A method, system, and non-transitory computer-readable storage medium for estimating pose of a drill are disclosed. The method may include receiving a location signal from a locating device, receiving a first signal indicative of an angular rate of the drill, and receiving a second signal indicative of an acceleration of the drill. The method may further include determining an operation state of the drill. The method may further include determining the pose of the drill based on the received location signal, first signal, second signal, and the determined operation state of the drill.