How to track the position of a quadcopter indoors without GPS?

Question

Geolocation

For example:
There is an exact plan (3d model) of a room with objects in it (tables, chairs, shelves, etc.)
Let's say I want to order the quadcopter from the application to fly to the table and sit on it.
How can I understand (send from a quadrocopter) in which part of the room it is now (its coordinates are preferably up to centimeters, at least relative to the starting point), without using GPS? (to monitor and control it by setting new coordinates, starting from the real position)
First ideas, using accelerometers and a compass together, but it's not clear how exactly, are there any similar solutions that can be used for a similar task?
ps: also spinning in my head when using:
remoteness, for example, from wifi, RFID tags, echo sounders, etc.
I apologize for some confusion, I have never done this, but I wanted to, any books or articles close to this topic will help a lot, thanks in advance!
Upd:
found about what you need on arduino
- https://www.pozyx.io/
there are other similar solutions from other guys.
BUT if suddenly there is an article on how to at least make something like this yourself, I will be very grateful =)

Answer 1

catch