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  ______     ___      _  __     ___       _____  
 /_   _//   / _ \\   | |/ //   / _ \\    / ___// 
   | ||    / //\ \\  | ' //   | / \ ||   \___ \\ 
  _| ||   |  ___  || | . \\   | \_/ ||   /    // 
 /__//    |_||  |_|| |_|\_\\   \___//   /____//  
 `--`     `-`   `-`  `-` --`   `---`   `-----`

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Text this: UAV back-track in GPS unreliable environment