A method for guidance of a moving object towards a target. The method including: providing reference signals from RF reference sources to illuminate RF sensors on the moving object; positioning the RF reference sources to form a reference coordinate system; determining position information designating a position of the target in the reference coordinate system by a forward observer; fixing at least one of the RF reference sources at the forward observer in the reference coordinate system; determining a position and orientation of the moving object in the reference coordinate system on board the moving object based on signals received at the RF sensors from the RF reference sources and based on the positions of the RF reference sources; and guiding the moving object to the target at least based on the determined position and orientation of the moving object and the determined position information of the designated target.