performing measurements on positioning signals transmitted from at least one reference node through a plurality of directional beams in a beam sweeping scheme;

transmitting a result of the measurements to a central node; and

receiving information on a position of the communication node from the central node,

wherein the central node selects at least one beam least affected by an environmental change among the plurality of directional beams by inputting the received result of the measurements to learning models each of which is generated for each of the plurality of directional beams at each of a plurality of reference positions existing in the target space, and determines an estimated position of the communication node based on learning models for reference positions for the selected at least one beam and the received result of the measurements.