# Testing Procedure of Unmanned Aerial Vehicles (UAVs) Trajectory in Automatic Missions
## 3 Results
### Task 3-Accuracy of the Vertical Displacement  
The objective of the third test has been to determine the accuracy of the vertical displacement by a given interval, as carried out by the UAV. As the device moved from the take-off place to the altitude of 20 m and then in the interval of 5 m, it rose to the altitude of 90 m. The difference in altitude by which the UAV moved has been measured at 5 m, according to the programmed mission, and it has been carried out according to the indications of its on-board systems. As a result, 15 measurement points have been obtained in each test. In each of these points, the UAV had been hovering for a minimum of 15 s. Table 6 summarises the results of all the tests recorded by the MS50 surveying instrument and by the UAV in the LOG files. The differences in altitudes that were recorded at successive altitudes have been compared. Table 6 also presents the parameter denoted as Scale, the value of which has been calculated as the ratio of the reached altitude, as measured by the MS50, and the designed altitude:  
\[Scale\ =\ \frac{A_{\text{MS50}}}{A_{\text{PROJ}}} \tag{32}\] \begin{table}
\begin{tabular}{c c c c c c c} \hline
**Approach Direction** & **N [m]** & **S [m]** & **E [m]** & **W [m]** & _vAPP_ [m]** \\ \hline LIGHT & COM-1 & 1.83 & 1.58 & 2.30 & 1.75 & 0.91 \\ WIND & COM-2 & 0.63 & 1.25 & 1.00 & 0.54 & 0.66 \\ \hline STRONG & COM-1 & 2.41 & 2.19 & 2.51 & 2.79 & 1.17 \\ WIND & COM-2 & 2.86 & 2.31 & 2.40 & 2.96 & 1.57 \\ \hline \end{tabular}
\end{table} 
Table 4: Results of positioning repeatability test and variability of positioning accuracy test from many directions of UAV approach in task 2. \begin{table}
\begin{tabular}{c c c c c c c c c c c c} \hline  & & \multicolumn{4}{c}{**Deviation of the Distance**} & \multicolumn{4}{c}{**Repeatability of the Distance**} \\  & & **N [m]** & **S [m]** & **E [m]** & **W [m]** & **X** & **N [m]** & **S [m]** & **E [m]** & **W [m]** & **X** \\ \hline LIGHT & COM-1 & \(-\)0.27 & \(-\)0.50 & \(-\)0.33 & \(-\)0.57 & \(-\)0.42 & 0.88 & 1.11 & 1.07 & 0.97 & 1.01 \\ WIND & COM-2 & \(-\)0.81 & \(-\)0.25 & \(-\)0.49 & \(-\)0.67 & \(-\)0.56 & 0.84 & 1.19 & 0.92 & 1.08 & 1.01 \\ \hline STRONG & COM-1 & \(-\)0.33 & \(-\)0.54 & \(-\)0.46 & \(-\)0.32 & \(-\)0.41 & 1.58 & 1.44 & 1.31 & 1.37 & 1.43 \\ WIND & COM-2 & \(-\)0.37 & \(-\)0.60 & \(-\)0.85 & \(-\)0.67 & \(-\)0.62 & 1.51 & 1.31 & 1.43 & 1.03 & 1.32 \\ \hline \end{tabular}
\end{table} 
Table 5: Results of distance deviation test and repeatability test of the implemented distance in task 2. \begin{table}
\begin{tabular}{r c c c c c c c c c} \hline \hline  & \multicolumn{4}{c}{**LIGHT WIND**} & \multicolumn{4}{c}{**STRONG WIND**} \\
**Designed Altitude** & **PROJ-MS50** & **PROJ-LOG** & **MS50-LOG** & **Scale** & **PROJ-MS50** & **PROJ-LOG** & **MS50-LOG** & **Scale** \\
**[m]** & **[m]** & **[m]** & **[m]** & **[  
==WARNING: Truncated because of repetitions==
.07 & 4.95 & 5.77 & 4.06 & 5.35 \\
30 & 35 & 4.83 & 5.13 & 4.19 & 4.85 & 5.80 & 5.35 & 4.13 & 4.98 \\
35 & 40 & 5.15 & 5.15 & 4.53 & 5.32 & 4.03 & 4.07 & 5.40 & 5.28 \\
40 & 45 & 4.66 & 4.82
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denoted as P, relative to the flight lines for all of the on-board computers in strong and light wind conditions. Moreover, the data revealing the accuracy with which the UAV has reached the turn points have been summarised. Figure 8 illustrates the course of the mission in the horizontal plane. Table 10 summarises the basic data on the accuracy of the mission implementation by reaching the turn points. Figure 8: Course of the automatic pre-programmed flight mission in the horizontal plane-COM-2 in strong wind in task 4. Figure 7: Data from flights in task 4 for COM-1: (**a**) in light wind conditions, (**b**) in strong wind conditions. The analysis of the results from task 4 allows for stating that the deviations from the flight line recorded by the MS50 surveying instrument in relation to the design values. They fall within the range from 2 m to -1.70 m (COM-1) and from 2.5 m to -1.5 m (COM-2) for flights in light winds.