We have many different algorithms for map building and localizing a mobile robot in 2D space. In case of 3D space (open) to fly ariel vehicle, we use GPS to know the location longitude, latitude, altitude, etc. However, GPS is not suitable for the closed environment. Sometimes environment with many building or cloudy atmosphere is not suitable for using GPS. How can we localize (know the X, Y, Z coordinates) for Ariel vehicle in a closed environment?