This project will use the ESP32 module as well as ultrasonic transducers on a drone as well as multiple base stations to determine its location.

Localization of drones to within reasonably accurate distances indoors is difficult, especially since GPS often isn't an option. Using the ESP32 wifi/bluetooth and processing capabilities, multiple base stations with known positions can transmit ultrasonic sound cues as well as time stamps via wifi or bluetooth; the delay between the timestamp and when the ultrasonic sound reaches the drone can be used to determine its distance from the base station. With multiple base stations, the ESP32 can calculate it's location using trigonometry. This should allow indoor navigation with enough accuracy to avoid obstacles previously mapped.