Nowadays, there is excitement among professionals over the incoming robotics technologies that are paving the way to make a more efficient, sustainable and comfortable working environment. In particular, in the last decades the UAVs (Unmanned Aerial Vehicles) are being exploited in several civil sectors such as agriculture, photography/videography, construction, environmental monitoring and even transport. This list can potentially grow further, thanks to the intrinsic versatility of drones and their capability of operating autonomously. However, the bottleneck of these devices relies on the methods used to localize them in space. Outdoor, satellite systems like GNSS (Global Navigation Satellite System) and GPS (Global Positioning System) allow drone localization with acceptable precision.