Mobile Network Driven Limitless Range Telemetry System for

Autonomous UAVs

Chandresh Menon

, Tanishq Shinde

Saurabh Kaduskar

, Sarthak Varma

and Soham Suryawanshi

Department of Computer Engineering, Agnel Charities Fr. C. Rodrigues Institute of Technology, Vashi, Navi Mumbai,

India

Department of Electrical Engineering, Agnel Charities Fr. C. Rodrigues Institute of Technology, Vashi, Navi Mumbai,

India

Keywords:

4G, Reliability, Mobile Networking, MAVLink, VPN, Telemetry, Companion Computer.

Abstract:

This paper introduces an advanced telemetry system for autonomous UAVs using the MAVLink protocol and

secure VPN tunneling to communicate with ground control stations via 4G mobile networks. By leveraging

mobile infrastructure, the system achieves extended range for real-time data transmission and control, over-

coming traditional radio frequency limitations. The integration of VPN ensures a secure and private communi-

cation channel, while 4G connectivity enables reliable and low-latency operations. Extensive testing conﬁrms

its effectiveness for applications in surveillance, environmental monitoring, and logistics. These characteris-

tics provide a distinct advantage in dense urban environments in terms of cost, interference susceptibility, and

range.

1 INTRODUCTION

The convergence of unmanned aerial vehicles (UAVs)

with advanced communication networks presents a

transformative opportunity for communication and

innovation. Advanced communication networks of-

fer ultra-high bandwidth, low latency, and massive

network capacity, while UAVs provide ﬂexible aerial

platforms. This combination has the potential to rev-

olutionize various sectors, from enhancing connectiv-

ity in underserved areas to enabling real-time mon-

itoring and data collection in diverse applications.

(Wazid, et al. 2020), (Mishra, et al. 2020), (Festag, et

al. 2021)

This paper explores a 4G-based VPN Powered

telemetry system as a robust alternative to traditional

radio frequency-based communication for UAVs. It

highlights the advantages of the proposed system, in-

cluding enhanced range, reduced susceptibility to in-

terference, and cost-effectiveness in dense urban en-

vironments. A detailed performance study evaluates

the system across various parameters, showcasing its

performance and reliability. The design and working

principles of the demonstrator platform are presented

to illustrate the practical implementation. Based on

the ﬁndings and unique traits of this system, the paper

identiﬁes key application areas where this technology

offers signiﬁcant advantages, such as urban surveil-

lance, logistics, and environmental monitoring. (Jin,

et al. 2021), (Hassija, et al. 2021), (Fakhreddine, et

al. 2022), (Pocovi, et al. 2018)

2 EASE OF USE

The proposed system is designed with ease of use

as a central focus, ensuring seamless integration into

existing UAV workﬂows. By utilizing widely avail-

able 4G mobile networks and standard VPN conﬁgu-

rations, the system eliminates the need for specialized

hardware or complex setup processes associated with

traditional radio frequency systems. Its plug-and-

play architecture simpliﬁes deployment, while intu-

itive connectivity through VPN tunneling ensures se-

cure and reliable communication with minimal oper-

ator intervention. Our system enables operators to

securely control multiple drones simultaneously from

anywhere in the world, leveraging the ﬂexibility of 4G

connectivity and VPN tunneling. A custom-designed

graphical user interface (GUI) provides an intuitive

and user-friendly platform for managing UAV oper-

ations. This streamlined approach not only reduces

operational complexity but also enables rapid scala-

702

Menon, C., Shinde, T., Kaduskar, S., Varma, S. and Suryawanshi, S.

Mobile Network Driven Limitless Range Telemetry System for Autonomous UAVs.

DOI: 10.5220/0013600400004664

Paper published under CC license (CC BY-NC-ND 4.0)

In Proceedings of the 3rd International Conference on Futuristic Technology (INCOFT 2025) - Volume 2, pages 702-707

ISBN: 978-989-758-763-4

bility across diverse applications, making it an acces-

sible and practical solution for both novice and expe-

rienced UAV operators. (Bakirci, 2023), (Zulkiﬂey, et

al. 2021), (Gorrepati and Guntur 2021)

3 CONCEPT

Figure 1: System Architecture

The above ﬁgure 1 illustrates a user-friendly UAV

system leveraging 4G networks and VPNs to elim-

inate specialized hardware and complex setups. Its

plug-and-play design ensures easy deployment, while

secure tunneling enables reliable multi-drone control

globally. A custom GUI simpliﬁes operations, reduc-

ing complexity and enhancing scalability for all users.

4 COMMUNICATION

PROTOCOLS

4.1 VPN (Virtual Private Network)

A Virtual Private Network (VPN) is a technology that

establishes a secure and encrypted connection over a

less secure network, such as the Internet. VPNs are

widely used to protect private data, provide secure re-

mote access to systems, and ensure privacy by mask-

ing the user’s IP address. In our Internet-based drone

system, VPN is utilized to enhance security, privacy,

and accessibility:

1. Secure Remote Access: A VPN ensures en-

crypted communication between the ground con-

trol station and the drone, protecting it from unau-

thorized access.

2. IP Masking and Privacy Protection: The VPN

hides the IP addresses of both the drone and the

ground control station, safeguarding the drone’s

location and data from potential attackers.

3. Improved Reliability: Using a VPN server helps

prevent disruptions caused by network instability

or interference, maintaining a stable connection.

4. Centralized Network Management: A VPN al-

lows multiple drones to securely connect to a cen-

tral server, enabling efﬁcient management and co-

ordination of drone operations from the ground.

4.2 MAVLink (Micro Air Vehicle

Communication Protocol)

MAVLink (Micro Air Vehicle Communication Pro-

tocol) is a lightweight messaging protocol designed

for communication between unmanned aerial vehicles

(UAVs), ground control stations (GCS), and onboard

systems. It is widely used in the drone ecosystem due

to its efﬁciency, ﬂexibility, and scalability. MAVLink

supports both telemetry and command-and-control

functionalities, enabling seamless communication in

UAV systems.

1. Multi-Channel Communication: MAVLink

supports communication over multiple channels,

such as serial, UDP, and TCP. This enables ﬂex-

ibility in the choice of communication mediums,

whether over wired or wireless networks.

2. Heartbeat Mechanism: The protocol includes a

heartbeat message that is periodically exchanged

between the UAV and GCS. This mechanism en-

sures that the connection is active and helps in de-

tecting link failures promptly.

3. Extensibility: MAVLink allows the addition of

custom message deﬁnitions, enabling developers

to extend the protocol to suit speciﬁc application

requirements without compromising compatibil-

ity with existing systems.

4. Real-Time Data Exchange: The protocol facili-

tates real-time exchange of telemetry data, includ-

ing GPS coordinates, battery status, attitude, and

sensor readings, enabling precise monitoring and

control of the UAV.

5. Command and Control: MAVLink supports

sending commands such as takeoff, landing, way-

point navigation, and parameter updates, enabling

comprehensive control over UAV operations from

the GCS.

Mobile Network Driven Limitless Range Telemetry System for Autonomous UAVs

703

5 IMPLEMENTATION OF THE

PROPOSED COMMUNICATION

SYSTEM

The proposed communication system leverages 4G

connectivity and VPN integration to establish a se-

cure communication channel between the drone and

the ground control station (GCS). The implementa-

tion steps are detailed as follows:

5.1 Establishing Internet Connectivity

through 4G

The Raspberry Pi (RPI) onboard the drone was con-

ﬁgured to connect to the internet using a 4G portable

hotspot. The 4G network provides reliable internet

access in areas covered by cellular networks, ensur-

ing long-range communication capabilities.

5.2 Setting Up a VPN for a Secure

Private Network

To establish a private communication channel, both

the RPI and the ground control laptop (GCS) were

connected to the same Virtual Private Network

(VPN). The following steps were taken:

1. VPN Client Installation: A VPN client was in-

stalled and conﬁgured on both devices to ensure

secure connectivity.

2. VPN Server Conﬁguration: A centralized VPN

server was set up to manage connections, assign-

ing unique private IPs to the devices.

This conﬁguration created a virtual local network, al-

lowing seamless communication between the drone

and the GCS while maintaining data security.

5.3 Enabling Data Transmission using

TCP and MAVLink Protocol

Telemetry data and commands were transmitted us-

ing:

• Transmission Control Protocol (TCP): Ensures

reliable and ordered data delivery.

• MAVLink Protocol: A lightweight communica-

tion protocol designed for UAVs.

The VPN-assigned IP address of the RPI was used as

the endpoint for accessing telemetry data and sending

commands. Furthermore, TCP facilitated both unicast

and multicast of MAVLink messages:

1. Unicast and Multicast: TCP allows the distribu-

tion of MAVLink messages to multiple ports. For

instance, if the RPI’s VPN IP is 10.8.0.5, it can

transmit messages to ports speciﬁed by the user,

such as 14441, 14442, and so on.

2. Scalable Access: This setup enables multiple

ground control stations or tools to access the

drone’s data and commands simultaneously.

5.4 Conﬁguring Ground Control Access

The ground control laptop (GCS) was conﬁgured to

use the RPI’s VPN IP address for communication

with the drone. Key functionalities include:

1. Real-Time Monitoring: Operators can monitor

telemetry data, including position, altitude, bat-

tery status, and video streams, in real time.

Figure 2: Real-Time Video Stream

Figure 2 illustrates a snapshot of a live video

stream captured just before landing. The video

streaming is facilitated through a VPN using

WebRTC, ensuring secure and reliable transmis-

sion. These streams are globally accessible to any

client connected to the VPN, enabling real-time

monitoring from remote locations.

2. Command Transmission: Commands such as

takeoff, waypoint navigation, and landing can be

sent securely via the VPN.

The integration of TCP and the VPN ensured low la-

tency and reliable data exchange between the drone

and the GCS.

This implementation demonstrates the integration of

4G and VPN technologies to establish a robust and se-

cure communication system for drones, enabling re-

mote operations over long distances with scalable ac-

cess to MAVLink data.

INCOFT 2025 - International Conference on Futuristic Technology

704

Figure 3: UAV Demonstrator

6 PERFORMANCE ANALYSIS

6.1 Range

• Mobile Network-Based System The 4G based

system offers worldwide coverage, relying on cel-

lular network availability. Its signal strength de-

pends on the proximity to the cellular towers and

the level of network congestion, while the range is

practically unlimited within the areas covered by

the network.

• Conventional RF Telemetry System RF-based

systems have a range that depends on transmis-

sion power, frequency, antenna design, and envi-

ronmental conditions, with RSSI degrading loga-

rithmically due to path loss. Coverage is limited

by line of sight and obstructions, as signal strength

diminishes with distance and environmental fac-

tors. The effective range is typically up to 1–2 km

under ideal conditions, but is signiﬁcantly reduced

by obstacles

Figure 4: Distance vs RSSI Graph

• Inference: From Figure 4, The mobile 4G

based telemetry system offers superior range and

consistent signal strength compared to the 433

MHz RF system, especially with existing cellular

infrastructure. Although the RF system provides

low-latency communication within a limited

range and ideal conditions, its performance

degrades rapidly with distance and obstructions.

In contrast, the mobile network system maintains

robust connectivity over vast distances.

6.2 Latency

• Mobile Network-Based System

Latency in cellular systems is inﬂuenced by en-

coding/decoding time, transmission time, and

processing delays, with typical values ranging

from 50 to 150 ms under ideal conditions to more

than 300 ms in weak signals. Distance also im-

pacts latency due to propagation delays and han-

dovers, with greater distances leading to slightly

higher latency.

• Conventional RF Telemetry System

Latency in RF systems depends on encod-

ing/decoding time, transmission time, and re-

ceiver processing delays, typically ranging from

10-50 ms for short ranges (0-100m) to 50–100ms

for medium ranges (100m–1km). Although dis-

tance has less impact at shorter ranges, increasing

distance can cause signiﬁcant signal degradation

and retransmissions, adding to latency.

Figure 5: Distance vs Latency Graph

• Inference: Latency analysis from Figure 5

highlights the advantages and limitations of RF-

based and cellular-based telemetry systems over

varying distances. RF systems have lower latency

at short distances, starting at 10 ms compared to

50 ms for cellular systems, but the difference is

minimal. As distance increases, the latency gap

narrows, with RF reaching 120 ms and cellular

systems at 220–330 ms at 2 km, depending

on signal quality. This diminishing difference

makes cellular systems more advantageous for

longer ranges, offering reliable performance with

slightly higher latency.

6.3 Noise

Noise refers to unwanted disturbances that interfere

with the transmission signal, resulting in a reduction

Mobile Network Driven Limitless Range Telemetry System for Autonomous UAVs

705

in video quality and stability.

• Mobile Network-Based System Mobile net-

works, such as 4G and 5G, offer high-quality

video transmission with minimal noise due to

their error correction mechanisms and adaptive

bitrate control. These systems are well-suited

for long-range operations and maintain consistent

performance even in the presence of moderate in-

terference. They support high-deﬁnition video (up

to 4K), ensuring reliability across diverse environ-

ments.

• Conventional RF Telemetry System Analog

RF-based systems, such as the TS835, are more

prone to noise, which can cause the video to

become grainy and unstable. These systems

perform adequately over short distances with low

interference, but suffer signiﬁcant degradation

in quality and reliability as distance increases.

Signal quality quickly decreases in areas with

high interference or weak signals, limiting their

effectiveness.

6.4 Additional Factors

1. Cost

Cellular telemetry systems are more cost-

effective, with a typical setup priced at $50, com-

pared to $200 for RF systems. This is due to the

use of existing mobile infrastructure and mass-

produced hardware, which reduces both initial

and long-term costs. RF systems, on the other

hand, require specialized equipment, leading to

higher expenses.

2. Ready To Operate

Cellular-based systems are plug-and-play, offer-

ing ease of use by simply connecting to exist-

ing mobile networks without requiring a com-

plex setup or conﬁguration. This user-friendly

nature makes them ideal for quick deployment.

In contrast, RF systems require a more intricate

setup, including speciﬁc hardware conﬁguration,

antenna alignment, and frequency management,

which can be time-consuming and challenging for

users, making them less convenient for everyday

use.

7 APPLICATIONS

The advanced telemetry system that leverages 4G mo-

bile networks and secure VPN tunneling offers sev-

eral compelling applications, particularly in urban ar-

eas where the mobile network infrastructure is robust.

In dense urban environments, where traditional RF-

based systems face signiﬁcant challenges with signal

degradation and interference, this system can provide

a reliable and cost-effective solution for package de-

livery. The extensive mobile infrastructure reduces

operational costs, as it leverages existing cellular tow-

ers and networks, eliminating the need to set up dedi-

cated communication systems. Furthermore, with low

susceptibility to signal disturbances, this system en-

sures efﬁcient real-time communication and control,

making it ideal for urban logistics and e-commerce

applications.

Another promising application is in scenarios

where off-site operation and monitoring of UAVs are

required. This system enables operators to control

and monitor UAVs from anywhere in the world, even

from different countries. For example, a UAV tasked

with monitoring infrastructure in a remote region

could be operated by an expert based in another coun-

try, providing ﬂexibility and efﬁciency. This ability

to manage UAVs from distant locations expands the

potential for global collaborations, remote diagnos-

tics, and emergency operations, with minimal phys-

ical presence required on site.

In addition, the system is invaluable for indus-

trial surveys and disaster relief operations. In indus-

tries, UAVs can perform real-time inspections of ma-

chinery, pipelines, and construction sites, enhancing

safety and reducing manual effort. In disaster relief,

the system enables rapid deployment, live situational

awareness, and supply delivery, ensuring efﬁcient co-

ordination even in challenging environments. Its se-

cure, low-latency communication supports critical op-

erations seamlessly.

8 CONCLUSION

In conclusion, this study has introduced and suc-

cessfully implemented a 4G-based telemetry system

for autonomous UAVs, leveraging the MAVLink pro-

tocol and VPN integration to enable secure, reli-

able, and low-latency communication. The pro-

posed system demonstrates clear advantages over tra-

ditional RF-based systems by extending operational

range, enhancing communication security, and ensur-

ing robust performance in dense urban environments.

The integration of a Raspberry Pi onboard, coupled

with seamless connectivity to a ground control sta-

tion through mobile infrastructure, offers unparalleled

ﬂexibility for global remote control and monitoring.

Extensive testing validates the suitability of the sys-

tem for critical applications such as surveillance and

INCOFT 2025 - International Conference on Futuristic Technology

706

logistics. These innovations establish a versatile and

scalable platform that meets the evolving demands of

modern drone operations, paving the way for future

advancements in drone technology.

ACKNOWLEDGMENT

The authors would like to express their sincere grat-

itude to Mr. Mritunjay Ojha, Assistant Professor,

and Mr. Pravin Pote, IT Admin, at Fr. Conceicao

Rodrigues Institute of Technology, Vashi, Mumbai

University, for their invaluable guidance and insights

throughout this research. We also extend our thanks

to all the reviewers for their constructive feedback on

earlier versions of the manuscript. Any remaining

errors are the sole responsibility of the authors and

should not reﬂect negatively on the aforementioned

individuals.

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