Method performed by a node for determining the position of a device, the method comprising: - transmitting a Response Request Message, RRM, to the device; - starting at least one time counter at the transmission of the RRM from a physical or data link layer of multiple abstraction layers (101a, 101b,..., 101n) being adapted to perform different tasks in the node, - receiving a Response Message, RM, from the device as a response to the RRM, - stopping the at least one time counter at the reception of the RM, wherein the method further comprises: - recording a time counter result Tx a, Tx b,... Tx n at the reception of the RM in the physical or data link layer for each of at least three omni-directional antenna elements (103a, 103b,..., 103n) in the node using the at least one time counter, - determining the distance between the node and the device based on the recorded time counter results Tx a, Tx b,... Tx n, wherein the distance is determined in the node by calculating a Time of Flight, ToF, based on the recorded time counter results Tx a, Tx b,... Tx n and an internal response time T Y of the device as ToF = (Tx a, Tx b,... Tx n) - T Y, - recording a received phase at a reception point (40a, 40b,..., 40n) of each of the at least three omni-directional antenna elements (103a, 103b,..., 103n) for the reception of the RM, - calculating an Angle of Arrival, AoA, based on the differences of the received phases and a transmission frequency for the RRM and/or the RM, and - determining the position of the device based on the determined distance and the calculated AoA, wherein the RRM and the RM are signals at a frequency between 860 and 930 MHz, or between 430 and 480MHz, or between 2.4 and 2.5GHz, or between 5.0 and 6.0GHz, wherein the method is performed more than once and the method further comprises: collecting multiple ToFs and calculated AoAs, determining an average error based on the collected ToFs and calculated AoAs, and using the average error when determining the position of the device. - transmitting a Response Request Message, RRM, to the device; - starting at least one time counter at the transmission of the RRM from a physical or data link layer of multiple abstraction layers (101a, 101b,..., 101n) being adapted to perform different tasks in the node, - receiving a Response Message, RM, from the device as a response to the RRM, - stopping the at least one time counter at the reception of the RM, - recording a time counter result Tx a, Tx b,... Tx n at the reception of the RM in the physical or data link layer for each of at least three omni-directional antenna elements (103a, 103b,..., 103n) in the node using the at least one time counter, - determining the distance between the node and the device based on the recorded time counter results Tx a, Tx b,... Tx n, wherein the distance is determined in the node by calculating a Time of Flight, ToF, based on the recorded time counter results Tx a, Tx b,... Tx n and an internal response time T Y of the device as ToF = (Tx a, Tx b,... Tx n) - T Y, - recording a received phase at a reception point (40a, 40b,..., 40n) of each of the at least three omni-directional antenna elements (103a, 103b,..., 103n) for the reception of the RM, - calculating an Angle of Arrival, AoA, based on the differences of the received phases and a transmission frequency for the RRM and/or the RM, and - determining the position of the device based on the determined distance and the calculated AoA, wherein the RRM and the RM are signals at a frequency between 860 and 930 MHz, or between 430 and 480MHz, or between 2.4 and 2.5GHz, or between 5.0 and 6.0GHz, wherein the method is performed more than once and the method further comprises: collecting multiple ToFs and calculated AoAs, determining an average error based on the collected ToFs and calculated AoAs, and using the average error when determining the position of the device.