# Testing Procedure of Unmanned Aerial Vehicles (UAVs) Trajectory in Automatic Missions
## 3 Results
### Task 2--ISO Standards for Industrial Robots
* variability of the positioning accuracy (\(vAP_{P}\)) from multiple directions, which is the maximum distance between the mean of the reached positions, as obtained when reaching the same set position \(n\) number of times from three perpendicular directions: \[vAP_{P}\ =\ \max\sqrt{\left(\overline{x}_{h}-\overline{x}_{k}\right)^{2}+ \left(\overline{y}_{h}-\overline{y}_{k}\right)^{2}+\left(\overline{z}_{h}- \overline{z}_{k}\right)^{2}}\] (23) where \(h\), \(k\) = 1, 2, 3--path direction markings. * deviation of the distance (\(AD_{P}\)), which is the difference between the set distance and the mean distance reached: \[AD_{P}\ =\ \overline{D}-D_{c}\] (24) \[\overline{D}\ =\ \frac{1}{n}\sum_{j\ =\ 1}^{n}D_{j}\] (25) \[\overline{y} = \frac{1}{n}\sum_{j\ =\ 1}^{n}y_{j}\]0 (26) \[\overline{y} = \frac{1}{n}\sum_{j\ =\ 1}^{n}y_{j}\]1 (27) where \(D_{c}\)--distance between two programmed points; \(D_{j}\)--measured distance between two programmed points. * repeatability of the distance (\(RD\)), i.e., a measure of the scatter of deviations of the reached distances, with these distances corresponding to the same set distance, repeated \(n\) number of times from the same direction: \[\overline{y} = \frac{1}{n}\sum_{j\ =\ 1}^{n}y_{j}\]2 (28) \[\overline{y} = \frac{1}{n}\sum_{j\ =\ 1}^{n}y_{j}\]3 (29) \[\overline{y} = \frac{1}{n}\sum_{j\ =\ 1}^{n}y_{j}\]4 (30) \[\overline{y} = \frac{1}{n}\sum_{j\ =\ 1}^{n}y_{j}\]5 (31) where \(\overline{D}\)--average distance between two programmed points; \(D_{j}\)--distance between two programmed points. Table 3 summarises the results of the UAV positioning accuracy test, depending on the direction from which the central position has been reached. The columns present the parameters for the individual axes of the coordinate system, the northern and eastern one, respectively, and the altitude. It should be noted that the standard only requires the spatial values for the centre of gravity of the positions reached by the robot from the same direction, i.e., the column denoted as 3D. The results of task 2 allow for a wider analysis. As far as the positioning accuracy parameter is concerned, Table 3, the results allow for stating that, for determining the horizontal position in incidences of light wind, the positioning of the device with accuracy of \(\pm 1.5\) m is ensured in most cases. However, in strong winds, on the verge of operability of the device, the value of this parameter is slightly exceeded. In the case of vertical positioning, the differences are larger than the 1.5 m in light wind and 2.0 m in strong wind. The parameter that is used in the standard, i.e., the accuracy of spatial positioning, by far exceeds the values 2.0 m in light wind and 3.0 m in strong wind. The results for both on-board computers are similar, but the effect of wind in the increased values of the results is observed. This is a dangerous phenomenon that can pose problems with maintaining proper separation from objects, for example, during inspections [31; 32; 33]. In the case of positioning repeatability, Table 4 summarises the results. It should be emphasised that this parameter determines the accuracy of the implementation of a predetermined position, having eliminated the systematic factor related to the inaccuracy of the coordinates of the GNSS receiver. When considering its values, it can be stated that the direction of the approach to the central point