Magnetic motion control of wireless biomedical capsule (WBC) have been a popular research topic recently. Use of embedded permanent magnet inside WBC and magnetic sensors outside the human body produces a magnetic field around passive WBC. This helps to calculate position and orientation of the WBC inside the human body as well as moving the WBC via magnetic force. In this paper, we present a hybrid localization technique that takes advantage of data fusion of magnetic measurements and electromagnetic signals from RF unit, which is mainly used for image transmission, for simultaneous position and orientation estimation with high accuracy. First, a 2D WBC localization scheme is developed based on only magnetic sensing and a discrete adaptive recursive least square algorithm with forgetting factor. Later, a rotation estimation for the WBC is established based on both range measurements and the proposed magnetic strength based technique over an RLS algorithm. The simulations illustrate promising results in the efficiency and accuracy level of the proposed scenarios.