A positioning system, comprising: a directional scanner configured to receive signals from a number, being three, five or seven, of non-collinear radio frequency identification, RFID, tags (124, 127, 128); a gimbal configured to provide a plurality of orientations (112, 114) to the directional scanner to receive the signals from the number of the non-collinear RFID tags (124, 127, 128), the gimbal including rotation sensors (113A, 113B) configured to generate an orientation information indicating the plurality of orientations (112, 114); a pose estimator configured to estimate a pose of a device that includes or is coupled to the directional scanner based on orientation data indicating, based on the orientation information, orientations (117, 115) of the directional scanner associated with determined peak signal strengths (181, 183, 184, 186) of signals from the number of the non-collinear RFID tags (124, 127, 128), wherein the number of the non-collinear RFID tags (124, 127, 128) belongs to a pattern known to the positioning system, characterised in that the pose estimator is further configured to determine a relationship between a device coordinate system and an object coordinate system using a relative relationship between the number of the non-collinear RFID tags (124, 127, 128) in the device coordinate system and a relative relationship between the number of the non-collinear RFID tags (124, 127, 128) in the object coordinate system, wherein the relationship between the device coordinate system and the object coordinate system includes a transformation matrix between the device coordinate system and the object coordinate system, and the pose estimator is configured to determine the transformation matrix using a number point algorithm corresponding to the number of the non-collinear RFID tags. a directional scanner configured to receive signals from a number, being three, five or seven, of non-collinear radio frequency identification, RFID, tags (124, 127, 128); a gimbal configured to provide a plurality of orientations (112, 114) to the directional scanner to receive the signals from the number of the non-collinear RFID tags (124, 127, 128), the gimbal including rotation sensors (113A, 113B) configured to generate an orientation information indicating the plurality of orientations (112, 114); a pose estimator configured to estimate a pose of a device that includes or is coupled to the directional scanner based on orientation data indicating, based on the orientation information, orientations (117, 115) of the directional scanner associated with determined peak signal strengths (181, 183, 184, 186) of signals from the number of the non-collinear RFID tags (124, 127, 128), wherein the number of the non-collinear RFID tags (124, 127, 128) belongs to a pattern known to the positioning system, characterised in that the pose estimator is further configured to determine a relationship between a device coordinate system and an object coordinate system using a relative relationship between the number of the non-collinear RFID tags (124, 127, 128) in the device coordinate system and a relative relationship between the number of the non-collinear RFID tags (124, 127, 128) in the object coordinate system, wherein the relationship between the device coordinate system and the object coordinate system includes a transformation matrix between the device coordinate system and the object coordinate system, and the pose estimator is configured to determine the transformation matrix using a number point algorithm corresponding to the number of the non-collinear RFID tags.