1 Autonomous Tracking of UAS Using GPS Data with a

North Dakota (UND) has developed an autonomous system tracking device for an aircraft transmitting its Global Positioning System (GPS) coordinates. This pointing system uses GPS coordinates from the aircraft to point directional communication antennas. The pointing algorithm is a closed form analytical expression that specifies the rotation angles of the gimbal. This device also eliminates the presence of ground personnel required to angle the directional antennas at the aircraft. The directional antennas provide better signal bandwidth and strength for communication purposes. Through the use of already developed technology and payload systems, the integration of this technology proves to be a valuable addition to existing unmanned aircrafts and payloads. Nomenclature α = rotation about z-axis of gimbal system β = rotation about x-axis of gimbal system γ = roation about y-axis of gimbal system ψ = yaw Δxa = x component of the airplane in inertial coordinate