Algorithm 2 Location mapping/translation.

1:${\lambda }_{\mathrm{base}},{\gamma }_{\mathrm{base}},{\theta }_{\mathrm{base}}$              ▹ Latitude, longitude, compass direction of base coordinate system  2:For every position update, do:  3: $[{\mathit{x}}_{\mathit{new}},{\mathit{y}}_{\mathit{new}}]\leftarrow [XValue,YValue]$  4:if${\lambda }_{\mathrm{ref}}=null$then                        ▹ First position update for the technology  5: $[{\lambda }_{\mathrm{ref}},{\gamma }_{\mathrm{ref}},{\theta }_{\mathrm{ref}},{altitude}_{\mathrm{ref}}]\leftarrow retrieveReferencePoint\left(\right)$  6: $\mathit{earthRadius}\leftarrow getRadius({\lambda }_{\mathrm{ref}},{altitude}_{\mathrm{ref}})$                 ▹ [6356.752km : 6378.137km]  7: $\Delta \lambda \leftarrow {\lambda }_{\mathrm{ref}}\ast \pi /180-{\lambda }_{\mathrm{base}}\ast \pi /180$  8: $\Delta \gamma \leftarrow {\gamma }_{\mathrm{ref}}\ast \pi /180-{\gamma }_{\mathrm{base}}\ast \pi /180$  9: $\beta ={sin}^2(\Delta \lambda /2)+cos({\lambda }_{\mathrm{base}}\ast \pi /180)\ast cos({\lambda }_{\mathrm{ref}}\ast \pi /180)\ast sin(\delta \gamma /2)\ast sin(\Delta \gamma /2)$ 10: $ϵ=2\ast atan2(\sqrt[2]{\beta },\sqrt[2]{1-\beta })$ 11: $\mathit{distance}\leftarrow earthRadius\ast ϵ\ast 1000$ 12: $\mathit{bearing}\leftarrow atan2(cos({\lambda }_{\mathrm{base}})\ast sin({\lambda }_{\mathrm{ref}})-sin({\lambda }_{\mathrm{base}})\ast cos({\lambda }_{\mathrm{ref}})\ast cos({\gamma }_{\mathrm{ref}}-{\gamma }_{\mathrm{base}}),sin({\gamma }_{\mathrm{ref}}-{\gamma }_{\mathrm{base}})\ast cos({\lambda }_{\mathrm{ref}}\left)\right)$ 13: ${\mathit{x}}_{\mathit{offset}}\leftarrow distance\ast sin\left(bearing\right))$ 14: ${\mathit{y}}_{\mathit{offset}}\leftarrow distance\ast cos\left(bearing\right))$ 15: $\Delta \theta \leftarrow {\theta }_{\mathrm{ref}}-{\theta }_{\mathrm{base}}$ 16: end if 17: ${\mathit{x}}_{\mathit{mapped}}\leftarrow x_{\mathrm{new}}\ast cos(\Delta \theta )-y_{\mathrm{new}}\ast sin(\Delta \theta )+x_{\mathrm{offset}}$ 18: ${\mathit{y}}_{\mathit{mapped}}\leftarrow x_{\mathrm{new}}\ast sin(\Delta \theta )+y_{\mathrm{new}}\ast cos(\Delta \theta )+y_{\mathrm{offset}}$ 19:$plot(x_{\mathrm{mapped}},y_{\mathrm{mapped}})$                          ▹ Mapped/translated location data 20: return