An adaptive beamforming method for assisting autonomous flight of an Unmanned Aerial Vehicle, UAV, on which a drone device including a radio transceiver is installed, comprising the following steps: A. setting beamforming electronic weights w(n, m) to respective initial values w 0 (n, m), with n ranging from 1 to N and m ranging from 1 to M, wherein the beamforming electronic weights w(n, m) are associated to N antenna arrays (110, 120) with N ≥ 2 of a radio beacon device installed on ground, including one or more radio transceivers configured to communicate with the radio transceiver of the drone device, wherein each antenna array (110, 120) has M antenna elements (115, 125) with M ≥ 2, wherein the initial values w 0 (n, m) of the beamforming electronic weights w(n, m) direct main beams (1150, 1250) of array directivity functions (1100, 1200) of the N antenna arrays (110, 120) along respective N directions at angles with respect to an axis orthogonal to the ground which are different from each other, whereby, when the N antenna arrays (110, 120) receive a signal from the radio transceiver of the drone device, at least one received signal quantity measure M n,k (d n) that is selected from a group of physical parameters of the received signal related to a distance ( d n) between the drone device and one of the N antenna arrays (110, 120) is different for each one of the N antenna arrays (110, 120); B. computing a difference vector ΔM' k having one or more elements which are at least a subset of differences at at least one sampling time t k of said at least one received signal quantity measure between each one of all combinations of two antenna arrays among the N antenna arrays (110, 120); C. comparing said one or more elements of the difference vector ΔM' k with corresponding one or more target values of a target vector ΔM TRG which define at least one delimited zone (DZI 1; DZI 2); D. outputting a set of one or more commands (C j) for assisting autonomous flight of said UAV with respect to said at least one delimited zone (DZI 1; DZI 2) and sending said set of one or more commands (C j) to the drone device; E. updating the beamforming electronic weights w(n, m) to maximise said one or more elements of the difference vector ΔM' k given the delimited zone(s), so enlarging the variation range of these elements while the spatial distance Δd from the target delimited zone(s) is kept constant and improving the resolution δ = Δd / ΔM k at an altitude h and/or in a specific position of the drone device above the ground, and returning to execute step B until an end event occurs. A. setting beamforming electronic weights w(n, m) to respective initial values w 0 (n, m), with n ranging from 1 to N and m ranging from 1 to M, wherein the beamforming electronic weights w(n, m) are associated to N antenna arrays (110, 120) with N ≥ 2 of a radio beacon device installed on ground, including one or more radio transceivers configured to communicate with the radio transceiver of the drone device, wherein each antenna array (110, 120) has M antenna elements (115, 125) with M ≥ 2, wherein the initial values w 0 (n, m) of the beamforming electronic weights w(n, m) direct main beams (1150, 1250) of array directivity functions (1100, 1200) of the N antenna arrays (110, 120) along respective N directions at angles with respect to an axis orthogonal to the ground which are different from each other, whereby, when the N antenna arrays (110, 120) receive a signal from the radio transceiver of the drone device, at least one received signal quantity measure M n,k (d n) that is selected from a group of physical parameters of the received signal related to a distance ( d n) between the drone device and one of the N antenna arrays (110, 120) is different for each one of the N antenna arrays (110, 120); B. computing a difference vector ΔM' k having one or more elements which are at least a subset of differences at at least one sampling time t k of said at least one received signal quantity measure between each one of all combinations of two antenna arrays among the N antenna arrays (110, 120); C. comparing said one or more elements of the difference vector ΔM' k with corresponding one or more target values of a target vector ΔM TRG which define at least one delimited zone (DZI 1; DZI 2); D. outputting a set of one or more commands (C j) for assisting autonomous flight of said UAV with respect to said at least one delimited zone (DZI 1; DZI 2) and sending said set of one or more commands (C j) to the drone device; E. updating the beamforming electronic weights w(n, m) to maximise said one or more elements of the difference vector ΔM' k given the delimited zone(s), so enlarging the variation range of these elements while the spatial distance Δd from the target delimited zone(s) is kept constant and improving the resolution δ = Δd / ΔM k at an altitude h and/or in a specific position of the drone device above the ground, and returning to execute step B until an end event occurs.