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| Criteria | Proposed platform | Helicopter platform [12] | Balloon platform [19] |
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| UAV type | Quadcopter | Raptor 90 Hoppy Helicopter | Balloon |
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| GCS | GCS: 1 laptop, airborne system: COTS components | GCS: 1 laptop, avionics: digital signal controller TMS320F28335 | GCS: 1 workstation, airborne system: ARM CPU + C8051 |
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| Communication device | 2 GSM modems or 1 GSM + land line modem (optional) | RC guidance device + 2 Digi XTend-PKG RF modems | 2 GSM modems + PSTN connection |
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| Communication architecture | Uplink: GSM in PPP
Downlink: GSM in PPP | Traditional 2.4 GHz receiver + wireless modems | Uplink: GSM in PPP
Downlink: GPRS using TCP/IP |
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| AT commands | Implemented | Not used | Implemented |
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| Communication range | The cellular service provider coverage | Up to 64 Km in open field environment | The cellular service provider coverage |
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| Link between GCS and UAV | NLoS | LoS | NLoS |
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| Communication baud rates | Uplink: 9.6 Kbps
Downlink: 9.6 Kbps | Up to 115.2 Kbps | Uplink: 9.6 Kbps
Downlink: 9.6 Kbps |
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| Average delay | Uplink: <0.3 sec
Downlink: <0.3 sec | Not explicitly mentioned | Uplink: <0.3 sec
Downlink: <0.85 sec |
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| Ceiling altitude according to [20] | 600–1000 m for consistent signal | Not explicitly mentioned | 600–1000 m for consistent signal |
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| Traditional short range receivers | Not existing | Exist | Not explicitly mentioned |
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| Ease of development | AHRS plus GPS, PWM controller, and GSM modems are all COTS components | Need custom development using DSC (TMS320F28335) | Need custom development using ARM CPU + C8051 |
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| PWM channels | 32 | 6 | 4 |
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| Real weather data for mission planning | Available | Not available | Not available |
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| Real weather data during flight mission | Available | Not available | Not available |
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| Real weather forecast data | Available up to 6 days | Not available | Not available |
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| GCS capabilities | Geographical map
Innovative set of gauges
Mission planning
Mission viewer
Weather forecast features
Hardware interfacing
Precise recording (10−7 s)
Playback | Compass gauges
Text data for UAV position
Curve style
UAV motion trajectory | GIS display |
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| Data logging location | GCS | Onboard system using SD card | Not explicitly mentioned |
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| Development languages | VB.NET | Not explicitly mentioned | Not explicitly mentioned |
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| Functional fidelity | Above medium | Medium | Medium |
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