In an aspect of the disclosure, a method, a computer-readable medium, and an apparatus are provided. The apparatus may receive at least one signal from a second wireless device, the at least one signal including one or more of RTP information or inertial sensor information. The apparatus may determine at least one AoA measurement and at least one RTP measurement associated with the at least one signal received from the second wireless device. The apparatus may determine a path of trajectory of the second wireless device based at least in part on the at least one AoA measurement, the at least one RTP measurement, and the inertial sensor information.