This paper presents a modified CFS (Closed-Form Solution) for FLAOA (Forward Link AOA) measurements. During when the pseudo-measurement equation for FLAOA is derived, the angle measurement noise is treated more carefully in approximation. As the covariance matrix of the pseudo-measurement noise is influenced by unknown user positions and azimuth, a two-step estimation technique is used in the proposed CFS. The performance of the proposed CFS for FLAOA is compared to that of the conventional CFS for FLAOA and RLAOA (Reverse Link AOA) in a computer simulation. Simulation results show that the proposed method is potentially suitable for applications involving the localization and guidance of indoor mobile robots.