A communication method includes a responder receiving at least one first sensing packet from an initiator, and transmitting at least one first measurement report frame according to the at least one first sensing packet, where the at least one first measurement report frame is used to provide a result of first measurement performed by the responder on the at least one first sensing packet, and a respective first measurement report frame of the at least one first measurement report frame is indicative of an identification of the respective first measurement report frame and the first measurement to which the at least one first sensing packet belongs.