Algorithm 5. PAT System:

Pointing and Tracking Algorithm : Takes GPS and IMU data to calculate the required pan and tilt angles, facilitating a direct laser communication pathway between the drone and the ground station.

Input: Drone GPS data, Drone IMU data

Output: Pan & tilt angles for the laser pointing system

1. // Acquire GPS and IMU data from the drone a. DroneGPSData ← GetDroneGPSData()

b. DroneIMUData ← GetDroneIMUData()

2. // Find relative position between drone, transmitter & receiver

a. $X=\left(N+h\right)\ast coscos\left(latitude\right)\ast coscos\left(longitude\right)$

b. $Y=\left(N+h\right)\ast coscos\left(latitude\right)\ast sinsin\left(longitude\right)$

c. $Z=\left(\left(1-e^2\right)\ast N+h\right)\ast sinsin\left(latitude\right)$

Where: $N=\frac{a}{\left(1–e^2\ast si{n}^2\left(latitude\right)\right)}$