A method for determining a spatial orientation of a body, including receiving, by receiving equipment located with the body, at least three electromagnetic signal sets, each of the received signal sets having been transmitted by a different one of at least three separate transmitters at different locations, detecting, for each one of the received signal sets, information that partially defines a direction from the body to the transmitter from which the signal set was received, the detected information including one of two angles that fully define an arrival direction from which the body received the signal set in relation to a body frame, the detected information not including a second of the two angles, and determining the spatial orientation of the body, including yaw, pitch, and roll angles relative to a navigation frame, using the detected information for each one of the received signal sets.