Experimental Study on Indoor Drone Positioning Using Wi-Fi RTT

As an alternative to GPS, we focus on indoor positioning using Wi-Fi RTT (Round Trip Time), which measures the round trip time to a Wi-Fi access point. Wi-Fi RTT-based positioning has not been well studied for indoor drones. As an experimental study of indoor drone positioning using Wi-Fi RTT, this paper presents a positioning method using a combination of on-board altimeter and Wi-Fi RTT ranging, and experimental results of drone positioning when stationary and hovering to clarify the positioning accuracy in both 2.4 GHz and 5 GHz bands. This paper shows that in both frequency bands, the positioning accuracy is significantly degraded during hovering compared to stationary, and that there is no significant difference between 2.4GHz and 5 GHz bands.