A method and device that estimate a pose of a device and the device are disclosed. The method may include generating inertial measurement unit (IMU) data of the device, determining a first pose of the device a first time point based on the IMU data, generating a current predicted motion state array based on the IMU data, and estimating an M-th predicted pose of the device at an M-th time point after the first time point based on the current predicted motion state array, where M denotes a natural number greater than 1.