This document provides two 2D simulation sensitivity analyses regarding a drone’s flight characteristic (state) errors within a GPS-denied region. The research focuses on a development and investigation of utilizing a camera to simultaneously determine a drone’s state while locating landmarks, where there is uncertainty in the landmarks’ exact positions prior to the mission (SLAM). This SLAM method is performed in regions with limited access to GPS. Furthermore, there is development and investigation of controlling the drone in conjunction with SLAM using potential error-reducing control parameters. Objectives are to quantitatively understand the UAV’s sensitivity of position errors to sensor grade and landmark characteristics as well as sensitivity of position errors to tuned control parameters
