Techniques for coordinating a
frame of reference between
wireless devices may comprise determining a displacement vector of a
wireless mobile device with respect to its local coordinate
system, the displacement vector indicative of a displacement of the
wireless mobile device between a first time and a second time. Techniques may further comprise the wireless
mobile device receiving, from a first wireless
reference device, an indication of a displacement vector of the wireless mobile device with respect to a common reference direction, and adjusting an estimated alignment of the common reference direction with respect to the wireless mobile device's local coordinate
system, based at least in part on correction information determined from a comparison of (i) the displacement vector of the wireless mobile device with respect to its local coordinate
system with (ii) the displacement vector of the wireless mobile device with respect to the common reference direction.