A positioning system for radio frequency devices includes a two-way radio antenna, for vehicles, having a transmitting and a receiving element. Reference antennas have retro-directive arrays which can shape the signal beams in elevation; polarize transmission and reception signals according to a circular or a linear polarization, the polarized transmission retro-directively reflecting signals having the same polarization as the incident ones in the case of circular polarization, or retro-directively reflecting signals having orthogonal polarization in the case of linear polarization. An encoder is included for transmitting an identification code of the reference antenna. A controller processes the spatial and temporal data resulting from communication through the radio waves transmitted and received by the vehicle antennas and reflected by the reference antennas. The controller calculates the distance of the vehicle from the reference antennas that have reflected the signal transmitted by the antennas.