I didn't study RF but my honest guess is Digital formats, error correcting codes, wide band (to avoid narrow occlusion from stopping us from recieving), redund

I didn't study RF but my honest guess is Digital formats, error correcting codes, wide band (to avoid narrow occlusion from stopping us from recieving), redundancy of transmissions, long bit frames that allow us to average our readings (at the cost of bitrate, akin to long exposure photography)