Practice a lot and it will get easy. The best way that I have found is to have one person move a target around while you shoot from the same position. judge the distance and shoot you will know if you are short or long on the estimation by where the arrow hits.
Get a rangefinder and going around picking out trees, stumps, targets, whatever it is guess the yardage and then range it, and then stand there a minute or two looking at the target thinking about that distance. When I shoot I try to just look at the target and judge it, but if i am really stumped i will find 20 or 30 yards by a tree or something like that and judge from that back to the target. The biggest thing to get your distance down is to practice practice and practice it tho
I shoot barebow, so this may or may not be any use to you:
Without a sight, my concetration is on the target, not arm's length. I shoot with the arrow in a straight line with it, and once solidly anchored the tip or the arrow works as a blurred reference. The more I shoot, and at the more ranges, the more the size of the given target and sight-picture help me estimate distance. To the point where it's rarely a difficult to just "point and shoot" even out to 40 or 50 yards- and that's with a much slower bow than most of you shoot (in some cases literally half the speed!)
i pick out a spot that i think is twenty yards then keep adding on to that it seems to work alot better than anything else i've tried. i tried the rangefinder practice thing but it got pretty boring and i didn't have much time to practice it.
i judge mine by ten yards at a time i will measure from where i am and imagine a ten yard line that i just add on to until i'm at the object i'm going to shoot. I"m very close to the actual distance but i usually am only acurrate out to 50 in distance judging. my dad pointed out an object that he had stepped off from the object to where i was standing and he asked me and one of our friends to guess the distance. He guessed 66 yards and i looked at the object and did what i do to guess distance and i guessed 50 yards and my dad said that he stepped off 52 yards. i was pretty impressed with my guess.
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