In this study, we developed a high-precision drone flight control system to enable wireless power transmission to drones in- flight, particularly during charging operations. Specifically, an AR marker-based position estimation system using a camera and a light source position estimation system simulating microwave power transmission were developed. We conducted drone control experiments with both systems to evaluate their accuracy, latency and operation range. The findings demonstrated significant differences between the two systems. The light source position estimation system achieved high accuracy and low latency, making it suitable for applications requiring high-prediction position estimation. However, its controllable range was limited to the beam’s illumination area. In contrast, the AR marker-based system allowed for control over a comparatively broader range based on the camera’s field of view, despite experiencing high latency and reduced accuracy caused by drone tilt corrections.

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