Vision-based　tasks　of　Unmanned　Aerial　Vehicles　(UAVs)　attracted　significant　research　attention.　Nowadays,　testing　a　complex　vision-based　system　using　real　experiments　is　expensive　and　time-consuming.　This　paper　focuses　on　designing　and　implementing　an　integrated　virtual　simulation　and　test　system　for　vision-based　algorithm　verification　in　visual　perception,　communication　transmission,　and　closed-loop　control　of　UAVs.　First,　a　unified　modular　modeling　process　is　proposed　to　construct　the　test　system,　which　consists　of　a　virtual　environment　subsystem,　a　vision　algorithm　subsystem,　and　a　corresponding　control　subsystem.　Although　the　vision　algorithm　and　control　subsystems　are　the　same　real　experiments　and　virtual　simulation,　the　virtual　environment　subsystem　focuses　on　ensuring　simulation　credibility　as　the　only　difference　between　real　and　virtual　experimentation.　Then,　some　essential　components　are　verified,　including　the　camera　model,　image　process,　and　communication　of　the　visual　sensor　network.　Finally,　two　case　studies　are　performed　to　validate　the　efficiency　and　easy　deployment,　illustrating　it　as　a　promising　platform　for　verifying　and　validating　advanced　guidance,　navigation,　and　control　algorithms.