# Testing Procedure of Unmanned Aerial Vehicles (UAVs) Trajectory in Automatic Missions
## 5 Conclusions  
The proposed new set of tasks and the methodology of their implementation can be successfully used to control the proper operation of UAVs. Their application allows for determining a number of parameters that should be necessary to certify these devices, such as hovering accuracy, positioning accuracy, device position drift, positioning repeatability, variability of the positioning accuracy, deviation, and repeatability of the distance. It should be noted that Task 3 describes research that has never been published before. The application of this type of task allows for checking the real altitude of UAV flights. While considering the obtained results and the planned rules of UAV utilisation related to the establishment of the U-Space, assuming flights take place at altitudes up to 120 m [22], it seems necessary to test the devices in terms of their accuracy in the performance of automatic missions in order to determine the applicability of individual devices, depending on the on-board computers and GNSS-IMU systems that were used. \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline \multirow{2}{*}{**GSD [mm]**} & \multirow{2}{*}{**Change of Flying Altitude [m]**} & \multicolumn{8}{c}{**Focal Length**} \\  & & **15 mm** & **15 mm** & **25 mm** & **25 mm** & **40 mm** & **40 mm** \\ \hline \multirow{4}{*}{10} & 0.0 & 60.0\% & 80.0\% & 60.0\% & 80.0\% & 60.0\% & 80.0\% \\  & 2.5 & 57.3\% & 78.6\% & 58.4\% & 79.2\% & 59.0\% & 79.5\% \\  & 5.0 & 54.1\% & 77.1\% & 56.7\% & 78.3\% & 58.0\% & 79.0\% \\  & 10.0 & 46.1\% & 73.0\% & 52.7\% & 76.3\% & 55.7\% & 77.9\% \\ \hline \multirow{4}{*}{20} & 0.0 & 60.0\% & 80.0\% & 60.0\% & 80.0\% & 60.0\% & 80.0\% \\  & 2.5 & 58.7\% & 79.4\% & 59.2\% & 79.6\% & 59.5\% & 79.8\% \\  & 5.0 & 57.3\% & 78.6\% & 58.4\% & 79.2\% & 59.0\% & 79.5\% \\  & 10.0 & 54.1\% & 77.1\% & 56.7\% & 78.3\% & 58.0\% & 79.0\% \\ \hline \multirow{4}{*}{30} & 0.0 & 60.0\% & 80.0\% & 60.0\% & 80.0\% & 60.0\% & 80.0\% \\  & 2.5 & 59.1\% & 79.6\% & 59.5\% & 79.7\% & 59.7\% & 79.8\% \\ \cline{1-1}  & 5.0 & 58.2\% & 79.1\% & 58.9\% & 79.5\% & 59.3\% & 79.7\% \\ \cline{1-1}  & 10.0 & 56.2\% & 78.1\% & 57.8\% & 78.9\% & 58.7\% & 79.3\% \\ \hline \hline \end{tabular}
\end{table} 
Table 13: Values of image coverage changes depending on changes in flying altitudes and focal length. \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline \multirow{2}{*}{**Changes in Distances between Flight Lines [m]**} & \multicolumn{8}{c}{**Image Width [m]**} \\  & **40** & **60** & **80** & **100** & **150** & **200** & **300** \\ \hline
0.00 & 60.0\% & 60.0\% & 60.0\% & 60.0\% & 60.0\% & 60.0\% & 60.0\% \\
2.50 & 53.8\% & 55.8\% & 56.9\% & 57.5\% & 58.3\% & 58.8\% & 59.2\% \\
5.00 & 47.5\% & 51.7\% & 53.8\% & 55.0\% & 56.7\% & 57.5\% & 58.3\% \\
10.00 & 35.0\% & 43.3\% & 47.5\% & 50.0\% &The new procedures that were proposed in this paper will allow for verifying the algorithms that optimise the test flights of the objects in reality. The test results can also be used as additional information when working on the algorithms that optimise flight planning in various terrain and weather conditions [11; 28; 29; 30; 34; 71; 72], as well as supporting precision landing [73; 74]. An integration of these parameters should be used for automating the image acquisition process for large-scale areas, allowing for the planning UAV flights with respect to the desired GSD. These parameters are sufficient in the case of spacious and flat terrains with obstacles, but they are suitable for use in uneven, densely built, or heavily vegetated environments. Such measurements will also allow for the introduction of additional parameters resulting from the measurement of the actual flight trajectory of the device [39; 65; 75]. In this paper, it is presented how new set of tests cues into UAV flight planning for generating safe trajectories for real-world 3D mapping applications. The article was prepared under the research subvention of AGH University of Science and Technology No. 16.16.150.545 in 2019.