A system for determining a distance between a receiver and a transmitter are disclosed herein. The transmitter includes a first antenna array having a first spatial orientation and is configured to transmit a signal. The receiver includes a second antenna array and an orientation sensor to determine a second spatial orientation of the second antenna array and is configured to receive the signal. A logic circuit is configured compare the first spatial orientation to the second spatial orientation to determine a relative orientation of the second antenna array; determine an angle of arrival of the signal; identify, based on the relative orientation of the second antenna array and the angle of arrival of the signal, a received signal strength compensation value; and calculate a distance between the transmitter and the receiver based on a measured received signal strength of the signal and the identified compensation value.