# Testing Procedure of Unmanned Aerial Vehicles (UAVs) Trajectory in Automatic Missions
## 3 Results  
As a result of the field studies, the coordinates of the points measured while using the Leica Nova MS50 have been captured, in the geodetic coordinate system 2000. The data have represented the actual position of the UAV in space. This data set has been hereinafter denoted as MS50 and should be considered as reference. Moreover, the data presenting the coordinates and altitudes recorded by the drone, stored in the LOG files saved in the on-board computer, have been acquired. These data have been recorded in the WGS84 system (EPSG 4326) and they have been transformed to the 2000 system, in the calculations and in the diagrams that they have been marked as LOG. The last type of the data that has been subject to a later analysis are the ones dealing with the coordinates of the points designed to be implemented by the UAV. The mission projects have used the coordinates in the WGS84 system, which have also been converted into the 2000 system. In the calculations and on the diagrams, they have been marked as PROJ. The altitudes have been designed while assuming that the UAV take-off point has had the altitude 0 m. Thus, the comparison of the altitudes has required the reduction in the data captured from the surveying instrument at the beginning of each mission. Correlating the UAV's take-off and landing time have carried out the time synchronisation of the data that were captured from the RTS and the UAV. Samples selection for further analysis was based on finding the MS50 and LOG samples, which was characterized by the smallest time differences between the moments of their record. In the measurement results from MS50, the prism position has been reduced relative to the GNSS antenna that was installed in the UAV, while taking into account the measured offset and the data recorded by the IMU, mounted in the drone, and stored in the LOG files from each flight. Therefore, it has been possible to cross-compare these three sets of data, and the following data sets have been created in the form of the time series, demonstrating:  
* coordinate differences between the design values and those that were measured by the MS50 instrument, denoted as PROJ-MS50: \[N_{PROJ-MS50} = N_{PROJ}-N_{MS50}\] (1) \[E_{PROJ-MS50} = E_{PROJ}-E_{MS50}\] (2) \[A_{PROJ-MS50} = A_{PROJ}-A_{MS50}\] (3)
* coordinate differences between the design values and those captured from the data stored in the LOG files of the UAV on-board computers, denoted as PROJ-LOG: \[N_{PROJ-LOG} = N_{PROJ}-N_{LOG}\] (4) \[E_{PROJ-LOG} = E_{PROJ}-E_{LOG}\] (5) \[A_{PROJ-LOG} = A_{PROJ}-A_{LOG}\] (6)
* coordinate differences between the values measured by the MS50 instrument and obtained from the data stored in the LOG files of the UAV on-board computers, denoted as MS50-LOG: \[N_{MS50-LOG} = N_{MS50}-N_{LOG}\] (7) \[E_{MS50-LOG} = E_{MS50}-E_{LOG}\] (8) \[A_{MS50-LOG} = A_{MS50}-A_{LOG}\] (9)  
Coordinate differences were determined for each coordinate components: North (N), East (E), and Altitude (A). The following subchapters discusses the results of the individual tasks presented for each on-board computer separately, while taking account of whether a given task has been carried out in the weather conditions with a negligible influence of the wind or whether the wind has beenstrong. For easy identification, it has been assumed that the on-board computers would be denoted as COM-1 and COM-2, while the wind effect has been divided into LIGHT WIND (LW) and STRONG WIND (STW).