## 1 Introduction
#### Current Advances in Related Research
These parameters include characteristics such as flight stability, maneuverability, payload capacity, and endurance, which directly impact the UAV's effectiveness in executing tasks. Accurate and precise localization plays a crucial role in mostly autonomously operated robotic systems. While conditions encountered on the seas typically involve fewer obstacles that block GNSS satellite signals, in practice these signals are received just above the line dividing the sea from the sky, and weather conditions, which often cannot be properly forecast at sea, can disrupt satellite systems. As a result, traditional drone navigation methods are less useful due to their limited reliability, particularly since systems based on optical flow exhibit reduced accuracy over the surface of water. To address these challenges, many studies on the topic of UAV applications have leveraged the benefits of systems utilizing the real-time kinematics (RTK) method. [PERSON] et al. [14] highlighted the importance of the accurate and precise tracking of the trajectory using GNSS-RTK in order to collect and localize a series of many aerial images. Likewise, in a separate investigation documented in [15], the application of GNSS-RTK to perform data fusion was introduced for geospatial applications. When coastal environments are considered, accurate and precise localization has been employed for qualitative spatial analysis, integrating techniques such as terrestrial laser scanning, photogrammetry, and historical bathymetric map data and bathymetric surveying. Despite the potential for significant drift in global position measurements due to the RTK station being situated on a landing pad moving with respect to the global coordinate system, the correction of signal disturbances significantly enhances the accuracy of relative positioning. Overall, the utilization of RTK systems in UAV operations addresses the challenges of precise localization, compensating for the limitations posed by maritime conditions and ensuring more accurate and reliable positioning. This enables the successful integration of various geospatial techniques, facilitating high-quality data analysis and enhancing the overall performance of UAVs in maritime environments. Besides relying on GNSS systems for global range navigation and systems based on video data for a precise landing pad approach, systems that lie between those mentioned above and utilize radio frequencies play a vital role in facilitating various UAV operations. Various popular and widely used systems for wireless data transfer, such as Wi-Fi and Bluetooth, are commonly employed for positioning purposes, each with their own constraints and benefits. [PERSON] and [PERSON] conducted a comprehensive review of this topic in their study [16]. Their research delved into the utilization of different wireless data transfer technologies, exploring their capabilities, limitations, and applications within the UAV domain. By examining the effectiveness and practicality of these systems, their work provided valuable insights for optimizing data transmission and communication in UAV operations. Usually, in UAV missions, two crucial moments can be identified: UAV take-off and landing. Surface vehicles have their own dynamic characteristics that are influenced by several factors, including their type, scale, weight, inertia, and the prevailing weather conditions. During the most common mission scenario, a vessel experiences various types of motion that affect its position and orientation in the marine environment. These motions can be categorized into translational movement; vertical movement; and oscillations in the pitch, roll, and yaw angle. To ensure mission success, the UAV system must be resilient to these disturbances. An extensive analysis of the complexity associated with landing on moving and rocking platforms was conducted in a comprehensive study presented in [17].