The developed system uses a low cost UAV (i.e., RC helicopter) that is flown in the lee of a cruising naval ship and its attitude disturbances are monitored with an onboard IMU (Inertial Measurement Unit). Concurrently, the relative position of the UAV is determined by comparing the GPS derived position of the UAV with that of a reference position on the ship. Fig. 1 shows the ship and the RC helicopter used in the experiments. A USB powered pilot input receiver module was developed to read pilot inputs from the radio controller in the form of PWM signals. Fig. 2 shows the pilot input receiver module.