a= Earth’s equatorial radius (≈ 6,378,137m)

e= Earth’s eccentricity (approx. 0.08181919084)

h= altitude above the ellipsoid

3. ECEF_Coordinates ← ConvertGPStoECEF(DroneGP 4. // Calculate relative position vector between drone & base station

a. ΔX = X drone - X base

b. ΔY = Y drone - Y base

c. ΔZ = Z drone - Z base

5. RelativePosition ← CalculateRelativePosition(ECEF_Coordinates, BaseStationCoordinates)

6. // Convert relative position vector to local ENU coordinates

1. $R=\left|-sinsin\left(longitude\right)coscos\left(longitude\right)0\right|$

$\left|-sinsin\left(latitude\right)\ast coscos\left(logitude\right)-sinsin\left(latitude\right)\ast sinsin\left(longitude\right)coscos\left(latitude\right)\right|$

$\left|coscos\left(latitude\right)\ast coscos\left(longitude\right)coscos\left(latitude\right)\ast sinsin\left(longitude\right)sinsin\left(latitude\right)\right|$

7. ${\left[E,N,U\right]}^T=R\ast {\left[\Delta X,\Delta Y,\Delta Z\right]}^T$

8. ENU_Coordinates ← ConvertECEFtoENU(RelativePosition, BaseStationCoordinates)

9. // Calculate pan and tilt ang

a. PanAngle ← CalculatePanAngle(ENU_Coordinates)

b. pan = atan2(E, N)

c. TiltAngle ← CalculateTiltAngle(ENU_Coordinates)

d. $tilt=atan2\left(U,sqrt\left(E^2+N^2\right)\right)$

10. // Apply the IMU orientation data

AdjustedAngles ← ApplyIMUOrientation(PanAngle, TiltAngle, DroneIMUData)

11. // Control the pan–tilt mechanism

MovePanTiltController(AdjustedAngles)

12. return AdjustedAngles