Phase Difference of Arrival (PDoA) Calculation


I was reading this paper: “Angle of Arrival Estimation Using Decawave DW1000 Integrated Circuits
I was wondering how angles are calculated for FP and SFD.
For FP, I can calculate the angle using I and Q samples from accumulator memory for the FP Index. But how can I do the same for SFD?
So far I could only find that register 0x14 (RX_TTCKO) has a RCPHASE field which “reports the receive carrier phase adjustment at time the ranging timestamp is made”. Since we know that SFD is the RMARKER and it is used for ToA timestamping, I’m assuming this is the register I need to read from. Could anyone confirm this?

I’m also a little bit confused about the method used for calculating the AoA. How is FP angle related to SFD angle and why these two values are used?

Thank you

[color=#212121][size=medium][font=-webkit-standard]I’m currently testing the measurement method but I have not understood it yet. Could someone be so nice and explain that in detail? Thanks[/font][/size][/color]