A method of a transmit apparatus in a wireless communication system supporting ranging capability is provided. The method comprises: for a single-sided two-way ranging (SS-TWR), identifying a ranging round (RR) including a ranging initiation phase (RIP) for a set of transmit apparatuses including the transmit apparatus and a ranging response phase (RRP) for a set of receive apparatuses, wherein the RIP and the RRP comprise at least one slot; transmitting, to the set of receive apparatuses, a ranging initiation message in the RIP; and receiving, from one or more of the set of receive apparatuses, a ranging response message including information requested by the transmit apparatus in the RRP.