There is no problem with the following expression.
ゆりかもめが線路にいる。
初代新幹線が鉄道博物館にいる。
ドローンが頭上にいる。
Yurikamome is an automated transit service, i.e., there is no driver in it. The same goes with Shinkansen in a museum and a UAV. いる can be used whether a driver is in the vehicle or not, or whether the vehicle is moving or parking. いる is often used for an inanimate thing that can be considered to move by themselves, like a vehicle, robot, an elevator, etc..
On the other hand, ある has a nuance that the vehicle is parking/is not moving.