Some embodiments of the present disclosure provide a transmit point that transmits a downlink chirp sensing waveform (DL CSW) signal. A device receives the DL CSW signal and obtains a cloned chirp sensing waveform. The cloned chirp sensing waveform includes a parameter that can be uniquely associated with the device. The device transmits a UL cloned CSW signal based on the cloned chirp sensing waveform. The transmit point receives the UL cloned CSW signal and processes the UL cloned CSW signal to estimate a pose for the device and associate the estimated pose with the identity of the device.