A method of radio frequency identification (RFID) tag bearing estimation comprises: at an RFID tag reader having a plurality of antenna elements, emitting a primary transmit beam; receiving a response signal from an RFID tag via the antenna elements; generating a first set of signal measurements corresponding to a first set of receive beam characteristics, based on a first partition of the response signal; generating a second set of signal measurements corresponding to a second set of receive beam characteristics, based on a second partition of the response signal; and combining the first and second sets of signal measurements, for selection of an estimated tag bearing for the RFID tag from the first and second receive beam characteristics.