A first communication device , comprising: at least one processor ; and a memory coupled to the at least one processor, the memory storing instructions therein, the instructions, when executed by the at least one processor, causing the first communication device to perform acts including: receiving a plurality of signals from a second communication device by an antenna of the first communication device, at a plurality of angles comprising a first angle and a second angle, the antenna being rotated to the plurality of angles in sequence; in response to a duration, in which the plurality of signals are received at the first angle, exceeding a predetermined time threshold, rotating the antenna to the second angle to continue receiving the plurality of signals, where the predetermined time threshold is based on the speed of movement of the second communication device such that the time threshold increases as the speed of movement decreases; determining an association between strength levels of the plurality of signals and the plurality of angles; and determining a direction of the second communication device relative to the first communication device based on the association without using phase information of the plurality of signals. at least one processor ; and a memory coupled to the at least one processor, the memory storing instructions therein, the instructions, when executed by the at least one processor, causing the first communication device to perform acts including: receiving a plurality of signals from a second communication device by an antenna of the first communication device, at a plurality of angles comprising a first angle and a second angle, the antenna being rotated to the plurality of angles in sequence; in response to a duration, in which the plurality of signals are received at the first angle, exceeding a predetermined time threshold, rotating the antenna to the second angle to continue receiving the plurality of signals, where the predetermined time threshold is based on the speed of movement of the second communication device such that the time threshold increases as the speed of movement decreases; determining an association between strength levels of the plurality of signals and the plurality of angles; and determining a direction of the second communication device relative to the first communication device based on the association without using phase information of the plurality of signals. receiving a plurality of signals from a second communication device by an antenna of the first communication device, at a plurality of angles comprising a first angle and a second angle, the antenna being rotated to the plurality of angles in sequence; in response to a duration, in which the plurality of signals are received at the first angle, exceeding a predetermined time threshold, rotating the antenna to the second angle to continue receiving the plurality of signals, where the predetermined time threshold is based on the speed of movement of the second communication device such that the time threshold increases as the speed of movement decreases; determining an association between strength levels of the plurality of signals and the plurality of angles; and determining a direction of the second communication device relative to the first communication device based on the association without using phase information of the plurality of signals. <EOS>