GNSS–5G integrated drone communication system uses a switched beam antenna array with 360° coverage and dual polarization to ensure stable links between drones, base stations, and other drones. Pattern-reconfigurable antennas are used for ground communication and high-gain switched beam antennas are used for aerial links, improving angle and delay estimation while reducing interference. Real-time 5G angle/range measurements are fused with GNSS data, and adaptive noise estimation mitigates near-far effects, enabling robust, interference-resistant, and high-accuracy PNT services for multi-drone networks