Accuracy Comparison of Indoor Positioning of a Drone Base Station Using Wi-Fi RTT in 2.4 GHz and 5 GHz Bands

GPS is typically used to establish navigation and safety functions when drones fly autonomously outdoors, but these functions cannot be used satisfactorily in non-GPS environments such as indoor flight. This study focuses on drone indoor positioning using Wi-Fi RTT (Round Trip Time), which measures the RTT from a Wi-Fi terminal to a Wi-Fi AP (Access Point). We have investigated a positioning method where a drone base station with Wi-Fi AP function measures the distance from Wi-Fi terminals around the drone based on RTT. As an experimental method, we placed four Wi-Fi terminals around the drone and measured the distance from these terminals using Wi-Fi RTT. After obtaining the results, the drone's position is estimated using minimum mean square error estimation. This paper presents an experimental evaluation and accuracy comparison of the positioning method in the 2.4 GHz and 5 GHz bands.