UAVs(Unmanned Aerial Vehicles) have gained popularity in various fields, and many applications require the drones to perform tasks in indoor environments. One major challenge in UAV indoor guidance is the absence of accurate GPS(Global Positioning System)
signals. In this work, a novel guidance method is investigated which uses a library of pre-computed trajectories which can be used in GPS-denied environments. Trajectory library is constructed and it stores the sequence of control inputs, which are selected to be the
Euler angles and thrust force, obtained from closed-loop flight. Flight test results suggest that the approach is feasible for short intervals, and the standard deviations between open-loop flights are shown to be within acceptable range. The relationships between velocity, time and standard deviation are also explored.