# Testing Procedure of Unmanned Aerial Vehicles (UAVs) Trajectory in Automatic Missions
## 2 Materials and Methods-Test Tasks for UAVs and Field Works
In these tests, the studies were conducted in a very little space, in a cube of a size of not more than 15 m. As demonstrated in works [47; 48], the use of a RTS allows for a significantly more accurate means of empirical modelling of the sensor measurement variance of localization systems. From this, an effective extended Kalman filter system was designed and shown to function well in its intended environment in comparison to the raw UWB (Ultra Wide Band) positioning algorithm. The RTS has been previously demonstrated as both an effective source of reference data for the assessment of accuracy of state estimation systems, and also as a means of characterizing the sensor variance. The suitability of the RTS is confirmed in [49], where kinematic positioning was applied to a UAV in a field trial to improve a priori image coordinates and evaluate the method for direct geo-referencing. The premise of this research was to replace GNSS navigation quality (1-10 m) coordinates that were used as a priori positions for photogrammetric processing with higher-precision image positions derived from a RTS. This required a detailed investigation of kinematic positioning with a RTS. Moreover, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS) or low cost navigation sensors for various UAV applications is important research [50]. This work focuses on studying the performance characteristics under different manoeuvres while using inertial measurements that were integrated with single point positioning, Real-Time-Kinematic (RTK), and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during GNSS signal outage. RTK or post-processed kinematic (PPK) methods are also used for the georeferencing of measurement materials (photos, LIDAR scans), but these solutions are not commonly used for UAV navigation [29; 51; 52]. Papers [53; 54; 55] also include the information on the application of the systems utilising camera systems that create systems allowing trajectory tracking and defining based on the image. The UAV tracking with the use of high speed cameras could be implemented in small areas, while for larger areas, due to the limitation of the field of view of the camera, a new construction of the measuring system for the automatic target tracking would be necessary. It should be emphasised that such systems have much lower accuracy of determining the coordinates as well as a smaller range. Therefore, the proposed measurement methodology may prove to be very helpful in assessing the accuracy of their operation. The UAV trajectory tracking studies that have been conducted so far have mainly focused on the use of new measurement methods. However, to the best of author knowledge, none of these works take into account the positioning accuracy of on-board computer and control systems in the realization of UAV missions. The tests that were carried out by [PERSON] [44] concerned only one type of UAV mission, and the systems that are described in [53; 54; 55] did not give sufficient accuracy in determining the coordinates. On the other hand, UWB systems had a limited range of operation [47]. In contrast to the studies that are described above in this article, an innovative set of tests has been proposed, which allows for assessing the accuracy of the task performance by UAV in space. Taking into account the state-of-the-art, the RTS was used during the research for reference measurements determining the current position of the UAV. The RTS was used with geodetic prisms (360\({}^{\circ}\) mini prism). It is an accurate, widely available and the most reliable method of tracking trajectories of objects in motion. The suitability and versatility of the proposed tests were verified by conducting appropriate field works for two different devices in various weather conditions. The main part of the research involved the formulation of a set of tasks, the implementation of which would allow for the assessment of UAV flight parameters in various terrain and weather conditions.