# Testing Procedure of Unmanned Aerial Vehicles (UAVs) Trajectory in Automatic Missions
## 1 Introduction  
The use of unmanned aerial vehicles (UAV) in a wide variety of domains of economy allows for accelerating the performance of various tasks. UAVs increase both the level of security of property and people as well as allowing initiating completely new uses. This equipment has recently become very popular for logistics and surveillance applications [1]. Thanks to a possibility of embedding several transmitters, sensors, and photographing equipment, UAVs can be used in a wide range of applications. Successful cases have been reported in, e.g., aerial reconnaissance [2], aerial forest fire detection [3], target observation [4], traffic monitoring and management [5], smart city [6], online commerce [7], geographic monitoring [8], scientific data collection [9], meteorological sampling [10], photogrammetry and three-dimensional mapping [2; 9; 11; 12; 13; 14], UAVs networks [15], humanitarian relief [16], and disaster assessment and response [17; 18; 19]. More examples of the fast expanding potential of UAVs are presented in [PERSON] et al. and [PERSON] et al. [20; 21]. In June 2018, the European Parliament voted to adopt a new regulation that is the first one to regulate the UAV market [22]. Its development is currently being inhibited by uncoordinated national regulations, which hinders the implementation of the European Union (EU) idea of the Urban Space (U-Space)--a special airspace for automatic and autonomous flights out of sight in cities. The unification of the regulations will open the door for the further development of the drone market and popularisation of UAVs. On the other hand, UAVs are getting increasingly distanced from classical aviation and they are becoming flying robots. The growing requirements that are related to ensuring high safety levels of flight operations, as well as the legal regulations will force the certification of UAVs. According to the author, one of the stages of certification of this type ofequipment should involve tests that allow for defining the characteristics that determine the correctness of the UAV task implementation. The missions that are performed by UAVs can be performed in automatic mode with the device implementing a previously planned mission, or autonomous at various levels of autonomy [23]. The navigation starts with the analysis of the environment using sensors (laser, stereo-vision, time-of-flight analysis), the modelling of the environment, the positioning using data integration techniques from navigation sensors (GNSS--Global Navigation Satellite System, IMU--Inertial Measurement Unit, gyroscopes), and the movement control using the ability to plan the path. The most advanced solutions in autonomous navigation are the algorithms that include the creation of a map into a navigation task, the so-called SLAM (Simultaneous Localisation and Mapping) [24; 25]. There are also works being carried out that focus on the preparation of the ICT (Information and Communications Technologies) systems that support the UAV missions, as exemplified by the implementation of the contact system of the air traffic service units with the UAV operators, performed by the company DronRadar [26]. The UAV automatic take-off and landing systems are also being created [27]. According to the planned regulations, the drones that are to fly in the EU sky in the future will have to be equipped with certain elements, such as an altimeter, a device defining the position, geographical zone, and the maximum allowable operating distance, as well as collision avoidance and automatic landing systems. The European Parliament argues that it is about ensuring safety [22]. In addition, the studies into optimisation of the UAV flight trajectories are currently being conducted in numerous research centres. The performed research is aimed at the optimisation of image coverage of the areas subject to photogrammetric measurements [11; 28; 29], at improving the inspection of objects [30; 31; 32; 33] as well as the trajectory of changes in flight directions [34; 35].