Methods of determining position of a target node in side-link communication system

A method of positioning a target node in a side-link communication system, the method comprising:

• establishing, by at least one first node, a communication link with at least one second node and at least one third node;
• measuring, by the at least one first node, a relative Angle of Arrival (AoA) and a relative Angle of Departure (AoD) of the at least one third node with respect to the at least one second node, wherein the target node is one of the at least one first node, the at least one second node and the at least one third node, and
• estimating, by the at least one first node, a position of the at least one target node based on at least one of a data related to at least one positioning measurement, the relative AoA, and the relative AoD.