This book covers the principles, methods, and state-of-the-art applications of positioning and sensing across both ground-based and aerial wireless networks. The first two chapters introduce key performance metrics and measurement techniques along with enabling tools. In the next two chapters, this book examines radio-frequency implementations over Wi-Fi systems, followed by visible-light positioning systems. Building on these chapters, fusion-based strategies demonstrate how inertial sensors, floor plans, and environmental constraints can be integrated via adaptive filter to enhance positioning accuracy. Subsequent chapters explore unmanned aerial vehicle–assisted positioning. Finally, this book presents integrated sensing–communication frameworks that design joint UAV Trajectory and resource allocations to deliver simultaneous connectivity and environmental awareness. This book targets graduate-level students and researchers working in computer science and electrical engineering as well as industry engineers. It offers both theoretical foundations and practical guidelines to develop next-generation wireless networks and beyond positioning and sensing solutions.