Abstract: An electronic device includes a first sensor including an anchor and a tag, and a second sensor including an inertial sensor and a geo-magnetic sensor, and a processor configured to estimate a first relative position of an external electronic device based on a time of arrival at which a signal from the anchor arrives at the external device, estimate a first relative pose of the external electronic device, based on measurements of the inertial sensor and the geo-magnetic sensor, convert an acceleration of the electronic device in a sensor frame into an acceleration in a navigation frame, based on the relative pose of the external electronic device, calculate a relative acceleration of the external device, based on the converted acceleration, and estimate a relative position and a relative pose of the external electronic device by applying the calculated relative position and the first relative position of the external electronic device to an Extended Kalman Filter.