Method for localizing the position of a wireless device

Systems and methods for localizing the position of a wireless device using a plurality of coordinated highly directional or adaptive antennas to detect signals from the wireless device. Because of the directional nature and/or adaptive processing of the antennas, off-angle multipath signals resulting from reflection and scattering as the wireless signal propagates through a cluttered environment are rejected by the antennas and processing. As a result, the antennas pass primarily direct path signals from the wireless device to the location estimator. The time of arrival of the signal and the angle of arrival at each antenna are used to in the location estimator to calculate the position of the wireless device. Various robust inversion techniques may also be applied to the data to minimize the effect of residual multipath-corrupted detections. Furthermore, the systems and methods include specialized wireless devices that provide locating signals and signals related to the biological condition of their owner.