This work extends the work on the projects 1 and 2, which focused on ultrasound positioning system design and implementation. Previous projects treated a theoretical proposal of such device, and some parts of the proposal were implemented. This thesis presents a theoretical background for a system used for automatic take-off and landing UAV, consequent modeling, implementation and testing of such system. The system is based on distance measuring using ultrasound. The measured distances are used for calculation of the specific position in the area which is necessary for UAV navigation. For testing purposes a special unmanned multicopter was developed together with simulation software, so the tests could be performed under real conditions and the system functionality was verified.