Do i need to register for Apple Developer Program to get the Code Sign Key and test the App in iPhone Device?

I am working on a Xamarin App targeting iPhone. I am using iPhone Simulator to test the App. As the App is designed to have Map feature, i need to test the local coordinates. As part of testing, I want to use iPhone Device instead of iPhone Simulator.

When i tried to connect to iPhone Device, I am getting error as follows ..

Error: No valid iOS code signing keys found in keychain. You need to request a codesigning certificate from https://developer.apple.com.

Do i need to register for Apple Developer Program to get the code sign certificate and test the App in iPhone Device?