A lighting system includes luminaires each having a light source for providing illumination in a space and a radio frequency identification (RFID) antenna. An RFID reader is coupled to the RFID antennas in all the luminaires. The RFID reader may transmit at least one RFID intended recipient message from at least one of the antennas and receive a responsive RFID reply message from a recipient device within the space via a plurality of the antennas. The RFID reader may determine a signal attribute of a reply message signal received via each receiving antenna. The determined signal attributes of the reply message signals received via antennas and information about locations of the receiving antennas are processed to estimate a position of the recipient device within the space.