Algorithm 3. Moving the Laser Pointer towards the drone:

Drone Tracking and Pointer Algorithm: Ensures the LCS’s laser pointer dynamically tracks the drone’s position, adjusting the pan and tilt mechanism in real-time based on GPS and IMU data, maintaining a consistent line of sight.

Input: GPS and IMU values from the drone

Output: Pan and Tilt motors move to the required angles

1: initialize R as 6371000 (Earth’s radius in meters)

2: initialize ground_station_lat as 12.971598 (replace with ground station’s latitude)

3: initialize ground_station_lon as 77.594566 (replace with ground station’s longitude)

4: define haversine_distance(lat1, lon1, lat2, lon2) function

5: convert lat1, lon1, lat2, lon2 to radians

6: calculate dlat as the difference between lat2 and lat1

7: calculate dlon as the difference between lon2 and lon1

8: calculate a using the haversine formula

9: calculate c as 2 * atan2(sqrt(a), sqrt(1 - a))

10: return the product of R and c

11: define calculate_angles(latitude, longitude) function

12: calculate distance using the haversine_distance function

13: calculate dlon as the difference between longitude and ground_station_lon

14: calculate pan_angle using the formula for calculating the bearing

15: convert pan_angle to degrees

16: set tilt_angle as 0

17: return pan_angle and tilt_angle

18: define handle_client(client_socket) function

19: while true do