A study on indoor drone positioning using Wi-Fi RTT ranging

As an alternative to GPS, we focus on indoor positioning using Wi-Fi RTT, which measures the distance to a Wi-Fi access point based on the time required to communicate with it. Wi-Fi RTT-based positioning has not yet been sufficiently studied for drones in flight. In this paper, as a study of indoor drone positioning using Wi-Fi RTT, we evaluate and compare the position estimation results when the drone is stationary and hovering, and when the access point location is changed. The measurement results show that the standard deviation of the estimated position is larger when the drone is hovering than when it is stationary, that the standard deviation is larger when the drone is hovering as the distance between the AP and the drone increases, and that the estimation results deteriorate significantly when the AP and the drone are too close to each other.