This paper presents the design and optimization of a wireless power transfer (WPT) charging system based on magnetically coupled resonant technology, applied to an Unmanned Aerial Vehicle (UAV). In this paper, a charging system, including dual active transmitter coils and a single receiver coil, is proposed. The dual transmitting coils adopt a coaxial structure with different radii. This structure simplifies the calculation of the complex mutual inductance between the coils to a function of mutual inductance only related to the value of the radial misalignment. Aiming toward a constant charging power, the optimal transmission efficiency of electric energy is achieved by controlling the input voltages of the active coils, which are solved via a set of equations defined as Lagrange multipliers. The simulation results of the 570 V and 85,000 Hz system verified the validity of the proposed wireless UAV charging scheme.