A communication method, applied between a first communication device and a second communication device, comprising: transmitting at least one first movement parameter (MP_int(tn)), wherein a first moving device is equipped with the first communication device and the first communication device detects a movement of the first moving device at a first time point to obtain the at least one first movement parameter (MP_int); receiving and storing the at least one first movement parameter (MP_int) by the second communication device of a second moving device; characterized by transmitting at least one second movement parameter (MP_int(tn)) to the second communication device selectively according to whether a difference between an estimated internal movement parameter (MP_int(tn)') and the at least one second movement parameter (MP_int(tn)) is greater than a predefined threshold (Δd_th) or not, wherein the first communication device estimates the position of the first moving device at a second time point (tn) based on at least one estimating function and the at least one first movement parameter (MP_int) and accordingly obtains the estimated internal movement parameter (MP_int(tn)'), wherein the first communication device detects the movement of the first moving device at the second time point (tn) to obtain the at least one second movement parameter (MP_int(tn)), and the second time point (tn) is later than the first time point; and obtaining the movement of the first moving device according to either the at least one second movement parameter (MP_int(tn)) or an estimated external movement parameter (MP_ext(tn)') by the second communication device, wherein the second communication device estimates the position of the first moving device at the second time point (tn) based on the at least one estimating function and the at least one first movement parameter (MP_int) and accordingly obtains the estimated external movement parameter (MP_ext(tn)'). transmitting at least one first movement parameter (MP_int(tn)), wherein a first moving device is equipped with the first communication device and the first communication device detects a movement of the first moving device at a first time point to obtain the at least one first movement parameter (MP_int); receiving and storing the at least one first movement parameter (MP_int) by the second communication device of a second moving device; characterized by transmitting at least one second movement parameter (MP_int(tn)) to the second communication device selectively according to whether a difference between an estimated internal movement parameter (MP_int(tn)') and the at least one second movement parameter (MP_int(tn)) is greater than a predefined threshold (Δd_th) or not, wherein the first communication device estimates the position of the first moving device at a second time point (tn) based on at least one estimating function and the at least one first movement parameter (MP_int) and accordingly obtains the estimated internal movement parameter (MP_int(tn)'), wherein the first communication device detects the movement of the first moving device at the second time point (tn) to obtain the at least one second movement parameter (MP_int(tn)), and the second time point (tn) is later than the first time point; and obtaining the movement of the first moving device according to either the at least one second movement parameter (MP_int(tn)) or an estimated external movement parameter (MP_ext(tn)') by the second communication device, wherein the second communication device estimates the position of the first moving device at the second time point (tn) based on the at least one estimating function and the at least one first movement parameter (MP_int) and accordingly obtains the estimated external movement parameter (MP_ext(tn)').