I'm trying to find a way where I can estimate the location of my drone on a floorplan. Note that right now, I will just be moving the drone around manually and not flying it.

I read up on PDR and what I want to do is this: Provide an initial location of my drone on the floorplan, and as I move the drone around, using information from the IMU/accelerometers, I want to update the position of my drone on the floorplan.

I've worked with ROS a bit and I want to know if there are packages in ROS that could do this. For now, I'm looking for rough estimates and not perfect solutions.

Thanks!