## 1 Introduction  
GPS (Global Positioning System) is crucial for Unmanned Aerial Vehicles (UAVs) because it provides accurate positioning and navigation, essential for various applications such as surveying, mapping, and search and rescue operations [1]. With GPS, UAVs can maintain precise flight paths, hover in fixed positions, and navigate autonomously over long distances. This accuracy is vital for tasks that require detailed spatial data, such as agricultural monitoring and infrastructure inspection. GPS technology significantly enhances the operational capabilities and efficiency of UAVs, making them indispensable tools in many fields [1; 2; 3]. This section briefly introduces the types of UAVs to understand the platform used in this paper, and subsequently, in Section 1, the problem statement and challenges this research aims to address are presented. Unmanned Aerial Vehicles (UAV) were initially developed for military purposes [4]. The goal was to create realistic aircraft capable of reconnaissance missions for the U.S. Air Force. Now, drones have evolved into safe and cost-effective systems equipped with multiple sensors, finding extensive use in civilian, commercial, and scientific domains [5; 6]. They are utilized for applications such as aerial photography, infrastructure inspection, and search and rescue. There are two types of motorized UAVs:  
1. Multirotor drones: These UAVs are characterized by their design, which has multiple rotor blades. These drones are similar in concept to traditional helicopters but are typically smaller. The main distinguishing ability of rotary-wing drones is their ability to hover, take off, and land vertically (VTOL). Fixed-wing: These are similar to traditional airplanes. Unlike rotary-wing drones, they achieve lift through the aerodynamic forces generated by their wings as they move through the air. Multirotor drones have some advantages over fixed-wing drones, such as the ability to hover, take off, and land vertically, and change direction quickly. However, they also have some disadvantages, such as a lower speed, shorter range, and higher energy consumption. This work focuses on fixed-wing UAVs for which there are multiple classification tables based on their size, weight, range, endurance, etc. Table 1 shows a classification obtained from [7]. The UAV used in this work, with which the images were taken, is categorized as tactical. It is a gasoline-powered UAV with a wingspan of 611 cm, payload capacity of up to 10 kg, endurance of up to 12 h, and a twin-engine (redundant) propulsion. Because of its range and operating altitude, this kind of UAV is suitable for reconnaissance and monitoring. Micro and mini UAVs are drones designed to be operated within the Visual Line of Sight of the pilot (VLOS); this means that the operator must maintain direct, unaided visual contact with the UAV at all times during its flight [8]. VLOS UAVs are typically used for short-range missions where the pilot needs to see and avoid obstacles and other forms of air traffic directly. These UAVs are commonly employed in applications such as aerial photography, surveying, and inspection tasks, where real-time visual monitoring is essential for safe and effective operation. Conversely, drones with a higher range can operate beyond the direct Visual Line of Sight of the operator (BVLOS) [8]. This type of drone is equipped with advanced technologies such as GPS, radar, and communication systems to ensure safe and precise control while flying the drone at distances or altitudes where it is not visible to the pilot. UAVs are piloted by a human from a Ground Control Station (GCS). The UAV is equipped with various actuators to control the surfaces of the aircraft (such as ailerons, elevators, and rudders), and an autopilot system, which is responsible for stabilizing the aircraft, following pre-programmed flight paths, and responding to commands from the GCS. The UAV communicates with the GCS. This communication is crucial for transmitting commands, receiving flight data, and sending back telemetry.