Methods and devices for determining a relative position between a first device and a second device are described. Measurement signals are transmitted from the first device to the second device. Each measurement signal is associated with a corresponding radio frequency spectrum in which the measurement signal is transmitted. A first radio frequency spectrum associated with a first measurement signal has a different frequency range than a second radio frequency spectrum associated with a second measurement signal of the plurality of measurement signals. At the second device the relative position based on at least the first and second measurement signals is determined.