Provided is a method of operating a controller, a method of operating a controlee, a controller, and a controlee. The method of operating a controller that performs a ranging with a controlee using ultra wideband (UWB) communication in a wireless communication system, the method including: transmitting, to the controlee, a first ranging control message (RCM) comprising information of a first ranging interval for a second RCM; changing a ranging interval for the second RCM from the first ranging interval to a second ranging interval; transmitting, to the controlee, an interval update message for the second RCM comprising information for the changed ranging interval based on the first ranging interval; and transmitting, to the controlee, the second RCM based on the changed ranging interval.