A wireless communication device includes: a processing circuit configured to: receive, from an antenna array during a previous period, a first directional electromagnetic signal including beam sweeping reference symbols of a previous beam sweeping period; compute an estimated combined channel; estimate a dominant angle-of-arrival (AoA) of the first directional electromagnetic signal based on the estimated combined channel and a previous beamforming codebook including two or more beamforming vectors corresponding to different AoAs; construct an updated beamforming codebook based on the estimated dominant AoA and one or more remaining AoAs spaced apart from the estimated dominant AoA; receive, at the antenna array during a current period, a second directional electromagnetic signal including data symbols; determine a beamforming vector for data reception of the second directional electromagnetic signal based on the updated beamforming codebook; and detect the data symbols in the second directional electromagnetic signal based on the determined beamforming vector.