Table 3.

The performance of the different schemes.

Source	Accuracy (m)	Maximum Altitude (m)	Flight Speed (m/s)	Outdoor
GPS-based	1–3	N/a	N/a	Yes
Ours/outdoor	0.87	15	2	Yes
Ours/simulated	0.11	18	2–3	No
Wubben et al. [33]	1.2	20	0.1	Yes
Kim et al. [34]	5	140	15	Yes