The interest in Unmanned Ariel Vehicles (UAVs) has been rising recently due to advances in technology such as battery capacity and miniaturization of microcontrollers.In addition, the reduction of the production cost of the quadrotors made them moreaccessible for various applications. Quadrotors find applications in military, agriculture, entertainment and surveillance. Most UAVs use GPS for navigation, limitingthe use of quadrotors to outdoors. In order to use the quadrotors indoors, an indoorpositioning system needs to be developed. Indoor localization can be developed usingnovel navigation algorithms along with the use of ranging sensors, cameras and radiowaves in addition to the sensors that are usually onboard. The development of anindoor navigation system allows the use of quadrotors in environments where GPS is unavailable, such as in factories or in underground areas. The aim of this thesis isto integrate a positioning system using Pozyx UWB wireless technology onto DJIMatrice 100 quadrotors in order to perform the indoor navigation and path planning.