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 ; a gimbal configured to provide a plurality of orientations to the directional scanner to receive the signals from the number of the non-collinear RFID tags , the gimbal including rotation sensors configured to generate an orientation information indicating the plurality of orientations ; 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 of the directional scanner associated with determined peak signal strengths of signals from the number of the non-collinear RFID tags , wherein the number of the non-collinear RFID tags 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 in the device coordinate system and a relative relationship between the number of the non-collinear RFID tags 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 ; a gimbal configured to provide a plurality of orientations to the directional scanner to receive the signals from the number of the non-collinear RFID tags , the gimbal including rotation sensors configured to generate an orientation information indicating the plurality of orientations ; 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 of the directional scanner associated with determined peak signal strengths of signals from the number of the non-collinear RFID tags , wherein the number of the non-collinear RFID tags 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 in the device coordinate system and a relative relationship between the number of the non-collinear RFID tags 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. <EOS>