Gas engine-driven heat pump (GHP) is an advanced low-carbon, energy-saving and clean heating technology. In view of the limitations of the current commonly used in GHP system technology research, such as the lower limit of the ambient temperature of R134a refrigerant for heating mode was high and the energy efficiency of the piston compressor was low, an energy-efficient GHP experimental platform was built innovatively based on the use of R410A refrigerant and scroll compressors. The heating performance characteristics of the GHP system with waste heat recovery device at high ambient temperature were investigated. The changing laws of heating capacity (Qh), gas consumption power (Pgas), compressor power (Pcomp), primary energy ratio(PER) and coefficient of performance (COP) were obtained under the conditions of different outlet water temperature (tw,out), engine speed (Neng), inlet water flow rate (Gw)and whether the engine waste heat was recovered or not. The error analysis of the key performance parameters was carried out. The results illustrate that when tw,out increases from 41℃ to 50℃, Qh, PER and COP decrease by 3.12%, 13.17% and 18.92%, respectively. The decline extent of PER is much smaller than that of COP. When Neng increases from 1200r/min to 1800r/min, the increase of Qh, Pgas and Pcomp are 51.03%, 43.98% and 55.37% respectively at tw,out of 50℃ . Meanwhile, the increase of PER is 4.90% due to the influence of the increase of the effective thermal efficiency of engine. When Gw increases from 5.8m3/h to 11.5m3/h, the system performance parameters are not sensitive to the change of Gw. When the system undergoes waste heat recovery, Qh, PER and COP are all significantly increased, and they increase by 31.18%, 36.06% and 31.54% respectively when Neng is 1200r/min and tw,out is 41℃. The ratios of the recovered waste heat to the total heating capacity and total engine waste heat are 17.48%—24.54% and 44.16%~63.39% respectively. According to the error analysis, the errors of Qh, Pgas and PER are 3.29%, 1.00% and 3.44% respectively, indicating that the test results have high accuracy.