“…Position tracking is one of the most useful features of present unmanned aerial vehicles. It can be adopted in a variety of applications, starting from formation flights [ 1 , 2 , 3 ],through operations such as moving platforms [ 4 , 5 ], ending with visual feature tracking [ 6 , 7 ], such person tracking [ 8 ], which is common in commercial drone solutions (e.g., DJI). In each of them, the precision of keeping the desired position or distance from a moving reference point plays a crucial role.…”