Towards a Modular 5G Motion Capture Testbed for Indoor UAVs

In this paper, we present a testbed architecture for high-accuracy indoor Unmanned Aerial Vehicle (UAV) tracking and control, combining an OptiTrack motion capture system with a 5G communication network. The system uses a local PC and onboard 5G hardware to enable reliable and scalable communication for UAVs. A companion computer on one of the UAVs runs custom Python code to connect to the 5G network and provides high-level flight control. A leader-follower UAV operation showcases the system's potential in GPS-denied environments, with experimental results confirming a reliable operation.