In the last few years UAVs systems have become relevant for many military applications including non military security work such as surveillance of pipelines. An autonomous UAVis often preferred for those missions that are dull, dirty or dangerous for manned aircraft. It has the ability to hover and it has free band GPS direction and tilt sensors for smooth navigation. There is no person on board to control the aircraft. Due to the advancement in satellite receiver tracking systems, an integrated system employing latest tracking techniques using satellite Receiver in the form of GPS is integrated with this vehicle. The data of GPS is transferred to the vehicle wirelessly with the help of Zigbee transceiver module. The GPS has made navigation systems practical for a number of land-vehicle navigation applications. In this paper we have devised an algorithm and hardware implementation scheme to transfer the GPS values from the PAV to the ground station wirelessly to control its aerial navigation.