A communication device for RF based communication with another communication device, said communication device comprising circuitry configured to apply a fine timing measurement, FTM, procedure. The circuitry is configured to determine an FTM mode out of at least two different FTM modes, and to perform an FTM procedure to determine the round trip time, RTT, between the communication device and the other communication device, wherein the RTT is determined by evaluating a time information of a tap of the channel impulse response, wherein the tap used for the evaluation depends on the determined FTM mode.