Abstract: Disclosed are methods and devices for, UWB, ranging of a target using a plurality of antenna arrays. The method comprises: determining a first RSSI, from a first antenna of a first antenna arrays, and a second RSSI from a second antenna of a second antenna arrays; in response to the first RSSI being larger than the second RSSI, selecting the first antenna array, and selecting the second antenna array otherwise; using the selected antenna array, performing a UWB ranging measurement including measuring an angle of arrival of the signal from the target; including, if the angle of arrival of the signal from the target is out of range: selecting a different one of the plurality of antennae arrays, as a presently-selected antenna array; and, using that antenna array, performing a UWB ranging measurement including measuring an angle of arrival of the signal from the target.