In 2019, the BLE special interest group (SIG) ratified the BLE 5.1 specification which included angle of arrival (AoA) for real-time location services (RTLS), as well as angle of departure (AoD) for indoor positioning systems (IPS), enabling sub-meter accuracy for both applications. With RTLS, users can put BLE tags typically powered by a coin cell on people or things and a nearby locator can calculate the relative position of the tag to within a sub-meter accuracy. Some RTLS application examples include asset tracking and monitoring, which is very popular in warehousing, hospitals, construction sites, and smart buildings. For the industrial automation use case, mobile robots are being used to expedite many operations on assembly lines and warehouses. These mobile robots need to know their location in order to perform their programmed duties. With IPS, these mobile robots can calculate their own position relative to fixed locators using AoD.