A method of establishing communication between a first device and a second device to exchange ranging information is provided. According to an embodiment, the method includes: sending, by the first device to the second device via a first channel, or receiving, by the first device from the second device via the first channel, a first control message indicating a start time; sending, by the first device to the second device via a second channel, a second control message including one or more ranging parameter values for exchanging the ranging information, the second control message being sent at the start time; and exchanging, by the first device with the second device via the second channel, the ranging information over one or more ranging rounds.