I plan on using a laser range finder in order to have a very accurate sensor that works on jagged edges. The major issue with the Ultrasound is that it does not work well on sharp edges because the sound waves disperse, I would use this tutorial to help me make my own laser range finder: http://www.dx.com/p/uni-t-ut390b-45m-laser-distance-meter-178482?Utm_rid=18166238&Utm_source=affiliate
I would use this tutorial in order to learn how to use the Arduino GPS module:
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