Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

VERSION 2023A

The Position and Traverse tests are performed sequentially by a remote pilot in direct line of sight, or with the pilot’s

back turned to represent flying beyond visual line of sight with an assisting visual observer. The aircraft flies the

designated flight paths to align with one or more white buckets. Each alignment requires a single image of the

inscribed green ring inside the bottom of the buckets. Perform all 40 alignments and accurate landings within the

designated time limit. Visual acuity targets evaluate camera pointing and zooming capabilities along with color,

thermal, hazmat labels, or other objects. Faults resulting in an end-of-trial include extreme deviations from the

intended flight path or contact with the apparatus, ground, or safety enclosure.

1

TOP

FRONT 1A

LEFT 1B 1C BACK

1D RIGHT

ALL “A” BUCKETS

POINT TOWARD THE 

LAUNCH/LAND

HANDLE

CENTERLINE

ONLY THE NUMBERS 

CHANGE FOR EACH 

OMNI BUCKET STAND

POST

LEGS 

FLUSH WITH TOP

NOT ALIGNED

1A 1A

ALIGNED

1A

ALIGNED

BROKEN

CONTINUOUS

1

2

3

FLIGHT LINE

ALTITUDE 10ft(3m)

START | END

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

10ft(3m)

FLIGHT LINE

z

z

z

ALTITUDE 10ft (3m)

START | END

3

2

1 10ft(3m)

ALTITUDE 20ft (6m)

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

AQUATIC

• Hold Position and Rotate

• Fly Straight and Level

• Climb and Descend

• Move and Rotate

• Land Accurately

Summary of Tests

The Position and Traverse tests are performed 

sequentially by a remote pilot in direct line of sight, or 

with the pilot’s back turned to represent flying beyond 

visual line of sight with an assisting visual observer. 

The aircraft flies the designated flight paths to align 

with one or more white buckets. Each alignment 

requires a single image of the inscribed green ring 

inside the bottom of the buckets. Perform all 40 

alignments and accurate landings within the 

designated time limit. Visual acuity targets evaluate 

camera pointing and zooming capabilities along with 

color, thermal, hazmat labels, or other objects. Faults 

resulting in an end-of-trial include extreme deviations 

from the intended flight path or contact with the 

apparatus, ground, or safety enclosure.

Test Lane Fabrication

Omni Bucket Stands , Launch/Land Platform, Measuring Tape Centerline

(QTY 01) 15m (50ft) measuring tape centerline

(QTY 01) square panel with 30cm (12in) radius circle

(QTY 03) 10x10x15cm (4x4x6in) posts 

(QTY 12) 5x10x30cm (2x4x12in) legs with 45deg tapers

(QTY 30) 7.5cm (3in) screws attach legs to post – 2 per

(QTY 30) 4cm (1-1/2in) screws attach buckets – 2 per

(QTY 15) 7.5-liter (2-gallon) white buckets

(QTY 52) 20cm (8in) round polyester weatherproof labels. 

Download and print targets and lettering from the online 

USAGE GUIDE or at RobotTestMethods.nist.gov.

A thick black marker can also be used to inscribe 2.5cm (1in) 

rings inside buckets with written letters and numbers. 

TRAVERSE (MANEUVERING 2): Fly sideways leftward and rightward 

around all three stands offset from the centerline at 10ft (3m) distance 

and altitude. Align with the outward pointing angled buckets along the 

path long enough to CAPTURE ONE IMAGE OF EACH BUCKET showing 

the inscribed rings. Then land centered on the platform with at least one 

leg in the 12in radius circle.

POSITION (MANEUVERING 1): Fly to the designated positions and 

orientations along the lane centerline at 10ft (3m) altitude and 20ft (6m) 

altitude. Simultaneously align with two buckets in each position long 

enough to CAPTURE ONE IMAGE OF EACH BUCKET showing the 

inscribed ring. Then land centered on the platform with at least one leg in 

the 12in radius circle. 

1

TOP

LEFT 1B 1C BACK

HANDLE

NOT ALIGNED

1A 1A

ALIGNED

1A

ALIGNED

BROKEN

CONTINUOUS

1

2

3

FLIGHT LINE

ALTITUDE 10ft(3m)

START | END

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

10ft(3m)

FLIGHT LINE

z

z

z

ALTITUDE 10ft (3m)

START | END

3

2

1 10ft(3m)

ALTITUDE 20ft (6m)

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

AQUATIC

• Hold Position and Rotate

• Fly Straight and Level

• Climb and Descend

• Move and Rotate

• Land Accurately

mmary of Tests

Position and Traverse tests are performed 

uentially by a remote pilot in direct line of sight, or 

the pilot’s back turned to represent flying beyond 

al line of sight with an assisting visual observer. 

aircraft flies the designated flight paths to align 

one or more white buckets. Each alignment 

ires a single image of the inscribed green ring 

e the bottom of the buckets. Perform all 40 

nments and accurate landings within the 

gnated time limit. Visual acuity targets evaluate 

era pointing and zooming capabilities along with 

r, thermal, hazmat labels, or other objects. Faults 

ting in an end-of-trial include extreme deviations 

 the intended flight path or contact with the 

aratus, ground, or safety enclosure.

TRAVERSE (MANEUVERING 2): Fly sideways leftward and rightward 

around all three stands offset from the centerline at 10ft (3m) distance 

and altitude. Align with the outward pointing angled buckets along the 

path long enough to CAPTURE ONE IMAGE OF EACH BUCKET showing 

the inscribed rings. Then land centered on the platform with at least one 

leg in the 12in radius circle.

POSITION (MANEUVERING 1): Fly to the designated positions and 

orientations along the lane centerline at 10ft (3m) altitude and 20ft (6m) 

altitude. Simultaneously align with two buckets in each position long 

enough to CAPTURE ONE IMAGE OF EACH BUCKET showing the 

inscribed ring. Then land centered on the platform with at least one leg in 

the 12in radius circle. 

 

 

 

P

C

 

 

T

 

1

2

3

FLIGHT LINE

ALTITUDE 10ft(3m)

START | END

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

10ft(3m)

Test Lane Fabrication

Omni Bucket Stands , Launch/Land Platform, Measuring Tape Centerline

(QTY 01) 15m (50ft) measuring tape centerline

(QTY 01) square panel with 30cm (12in) radius circle

(QTY 03) 10x10x15cm (4x4x6in) posts 

(QTY 12) 5x10x30cm (2x4x12in) legs with 45deg tapers

(QTY 30) 7.5cm (3in) screws attach legs to post – 2 per

(QTY 30) 4cm (1-1/2in) screws attach buckets – 2 per

(QTY 15) 7.5-liter (2-gallon) white buckets

(QTY 52) 20cm (8in) round polyester weatherproof labels. 

Download and print targets and lettering from the online 

USAGE GUIDE or at RobotTestMethods.nist.gov.

A thick black marker can also be used to inscribe 2.5cm (1in) 

rings inside buckets with written letters and numbers. 

TRAVERSE (MANEUVERING 2): Fly sideways leftward and rightward 

around all three stands offset from the centerline at 10ft (3m) distance 

and altitude. Align with the outward pointing angled buckets along the 

path long enough to CAPTURE ONE IMAGE OF EACH BUCKET showing 

the inscribed rings. Then land centered on the platform with at least one 

leg in the 12in radius circle.

orie

altitude. Sim

enough to CAPTUR

inscribed ring. Then land c

the 12in radius circle. 

4 CLIMB VERTICALLY OVER STAND #1 TO ALIGN WITH 1 & 3A

5 DESCEND VERTICALLY OVER STAND #1 TO ALIGN WITH 1 & 2A

6 PITCH FORWARD OVER STAND #2 TO ALIGN WITH 2 & 3A

7 PITCH BACKWARD OVER STAND #1 TO ALIGN WITH 1 & 2A

8 PITCH FORWARD OVER STAND #2 THEN YAW LEFT 180° 2 & 1C

9 PITCH FORWARD OVER LANDING THEN YAW RIGHT 180° L & 1A

10 LAND IN CIRCLE (ONE OR MORE LEGS ) – WORTH 2 POINTS 1pt & 1pt 

CIRCLE ALIGNED

11 HOVER OVER THE LAUNCH PLATFORM TO ALIGN WITH 1A

12 ORBIT 90° LEFTWARD AROUND STAND #1 TO ALIGN WITH 1B

13 ROLL LEFTWARD TO STAND #2 TO ALIGN WITH 2B

14 ROLL LEFTWARD TO STAND #3 TO ALIGN WITH 3B

15 ORBIT 90° LEFTWARD AROUND STAND #3 TO ALIGN WITH 3C

16 ORBIT 90° LEFTWARD AROUND STAND #3 TO ALIGN WITH 3D

17 ROLL LEFTWARD TO STAND #2 TO ALIGN WITH 2D

18 ROLL LEFTWARD TO STAND #1 TO ALIGN WITH 1D

19 ORBIT 90° LEFTWARD AROUND STAND #1 TO ALIGN WITH 1A

20 LAND IN CIRCLE (ONE OR MORE LEGS) – WORTH 1 POINT 1pt

CIRCLE ALIGNED

21 HOVER OVER THE LAUNCH PLATFORM TO ALIGN WITH 1A

22 ORBIT 90° RIGHTWARD AROUND STAND #1 TO ALIGN WITH 1D

23 ROLL RIGHTWARD TO STAND #2 TO ALIGN WITH 2D

24 ROLL RIGHTWARD TO STAND #3 TO ALIGN WITH 3D

25 ORBIT 90° RIGHTWARD AROUND STAND #3 TO ALIGN WITH 3C

26 ORBIT 90° RIGHTWARD AROUND STAND #3 TO ALIGN WITH 3B

27 ROLL RIGHTWARD TO STAND #2 TO ALIGN WITH 2B

28 ROLL RIGHTWARD TO STAND #1 TO ALIGN WITH 1B

29 ORBIT 90° RIGHTWARD AROUND STAND #1 TO ALIGN WITH 1A

30 LAND IN CIRCLE (ONE OR MORE LEGS ) – WORTH 1 POINT 1pt

 : : 

 :

 CIRCLE ONE: FAIL ( SCORE | TIME | SAFETY ) OR PASS

 CAPTURE CLOCK IMAGE AFTER LANDING – LAND TIME (HH:MM:SS)

 _______ / 40 MINIMUM PASSING SCORE – TOTAL SCORE (POINTS)

 STOP THE TIMER OR CALCULATE RESULT – ELASPED TIME (MM:SS)

TRAVERSE TEST – FLYING LEFTWARD 

 TRAVERSE TEST – FLYING RIGHTWARD

FABRICATION FLIGHT PATHS

BASIC PROFICIENCY

LEVEL 1 | OPEN LANE
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

VERSION 2023A

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Version: 2020B12 Page 74

PILOT VIEW

DARK

< 1

LUX

LIGHTING

DAYLIGHT 1000+

LUX

LIGHTED 300+

LUX

GUSTS

_______

MPH

AVERAGE

______

MPH

WIND

(CIRCLE ONE) (CIRCLE ONE)

TIME LIMIT

(CIRCLE ONE OR FILL IN)

5

MIN

10

MIN

___

MIN

PAYLOAD FUNCTIONALITY TRIAL SCORING: PERPENDICULAR BUCKETS: Circle the points when the Pilot sees a completely inscribed ring (5 pts) or 

partial inscribed ring (1 pt). ANGLED BUCKETS: Circle the answer keys when the Pilot correctly identifies the Concentric C gap directions (1 pt each). 

BUCKET SIZE

1 QUART

10 cm (4 in)

(CIRCLE ONE)

INTERFACE

ONLY

BACK TO LANE

MANDATORY V.O.

LINE OF

SIGHT

FACING LANE 

OPTIONAL V.O.

POINTS

POINT

POINT

Edits to the Forms – Partial Credit for Pa

Open Test Lane

5

1

PARTIAL

PARTIAL

ALIGNED

POINTS

POINTS

POINTS

1

1A

1A

BROKEN

BROKEN

5

1

1

ALIGNED

Version: 2020B2

rd Test Methods for Small Unmanned Aircraft Systems

nternational Standards Committee on Homeland Security Applications; 

esponse Robots (E54.09) | Website: RobotTestMethods.nist.gov

10

erformance: Close Proximity Inspection

y | Capabilities | Proficiency

STRUCTURE INSPECTION STRUCTURE INSPECTION

DUAL BUCKET ALIGNMENTS GUIDE 

PILOTS INTO SAFE POSITIONS 

WITHIN PROXIMITY TO OBJECTS

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

36

ery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

nal Unmanned Aircraft Systems Program Evaluation, August 2020

I

CONFINED TEST LANE

GPS DENIED

and

DARK (<1 LUX)

DUAL BUCKET 

ALIGNMENTS

AT 1 M (3 FT) 

PROXIMITY TO 

OBSTACLES

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

AT 2 M (6 FT) 

PROXIMITY TO 

OBSTACLES

LENGTH: 15 M (50 FT) LENGTH: 7.5 M (25 FT)

ree Different Test Lanes for Different Missions Obstructed Safety | Capabilities | ProficiencyTests and Scenarios

CHECKRIDE SCORESHEET

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

v2022B

Key: 

2020B

OBSTRUCTED TEST LANE SCENARIOS

6 Perch 7 Wall 8 Ground 9 Alley 10 Post

1 1 5pts 1pt 1 5pts 1pt 1 5pts 1pt 1 5pts 1pt 1 5pts 1pt 1 5pts 1pt 1 5pts 1pt

2 1A TR B TR L BR 1A TR B TR L BR 1A TR B TR L BR 1A TR B TR L BR 1A TR B TR L BR 1A TR B TR L BR 1A TR B TR L BR

3 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt

4 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R

5 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt

6 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL

7 4 5pts 1pt 4 5pts 1pt 4 5pts 1pt 4 5pts 1pt 4 5pts 1pt 4 5pts 1pt 4 5pts 1pt

8 4A T BL B TR L 4A T BL B TR L 4A T BL B TR L 4A T BL B TR L 4A T BL B TR L 4A T BL B TR L 4A T BL B TR L

9 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt 5 5pts 1pt 5 5pts 1pt

10 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL 5A BL R TL L BL 5A BL R TL L BL

11 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt 6 5pts 1pt 6 5pts 1pt

12 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R 6A TR B TR L BR 6A TR B TR L BR

13 1 5pts 1pt 1 5pts 1pt 1 5pts 1pt 1 5pts 1pt 1 5pts 1pt 7 5pts 1pt 7 5pts 1pt

14 1A TR B TR L BR 1A TR B TR L BR 1A TR B TR L BR 1A TR B TR L BR 1A TR B TR L BR 7A L BR T TL R 7A L BR T TL R

15 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt 2 5pts 1pt 8 5pts 1pt 8 5pts 1pt

16 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R 2A L BR T TL R 8A BR T TL R BL 8A BR T TL R BL

17 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt 3 5pts 1pt 9 5pts 1pt 9 5pts 1pt

18 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL 3A BR T TL R BL 9A T BL B TR L 9A T BL B TR L

19 4 5pts 1pt 4 5pts 1pt 4 5pts 1pt 4 5pts 1pt 4 5pts 1pt 10 5pts 1pt 10 5pts 1pt

20 4A T BL B TR L 4A T BL B TR L 4A T BL B TR L 4A T BL B TR L 4A T BL B TR L 10A BL R TL L BL 10A BL R TL L BL

TOTAL

Elapsed 

Time : : : : : : : : : : : : : :

PASS FAIL PASS FAIL PASS FAIL PASS FAIL PASS FAIL PASS FAIL PASS FAIL


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2 GALLON

20 cm (8 in)

Pilot Code : _______ Proctor Code: : ______

Accessories: ___________________________

Drone Make: ___________________________

Drone Model: ___________________________

Facility : ___________________________

YYYY-MM-DD : ___________________________

Pilot Name: ___________________________

TIME:

(6) PERCH (7) WALL (8) GROUND (9) ALLEY (10) POST VEHICLE STRUCTURE

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

Gap size (mm) Gap size (inches) Equivalent Avg. Human vision at 6 m (20 !)

40 mm 1.58 in 4.5 %

16 mm 0.63 in 11 %

6.4 mm 0.25 in 28 %

2.6 mm 0.10 in 70 %

1.0 mm 0.04 in 180 %

0.41 mm 0.016 in 440 %

For accurate calibration, the outer diameter of the largest Landolt C optotype should be 200 mm (7.9 in). 

Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications;

Operational Equipment; Robots (E54.08.01)

Nested Landolt C Vision Test Chart

#3

ALTITUDE

SPACING

Page 4 11/9/21

rch

with delivery of personal floatation devices

pse with school bus and vehicle rescue

5 different flight paths to identify objects from safe altitudes in open 

calable for all sizes of aircraft to demonstrate positive control at all times 

 be performed outdoors or indoors to control lighting and weather. The 

or basketball or tennis court for small drones and/or novice pilots to 

the national airspace.

 well defined altitudes, positions, orientations, and perches to evaluate both 

nctionality.

Standard Test Methods for Response Robots 

M International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

48

st Lanes for Various Sizes of Aircraft

Project Overview

YSTEMS

DURES

VERING

RE

1A

SCALABLE TEST LANES (ALTITUDE = SPACING) ALTITUDE

SPACING

OMNI BUCKETS

Page 4 11/9/21

Standard Test Methods for Small Unmanned Aircraft Systems ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

• Wide area search of a plane crash site

• Vehicle identifications

• Hazardous tanker truck accident and fire

• Suspicious vehicle takedown

• Bus hostage situation

• Collapsed structure search

• Subway terrorist attack

• Flooded house rescue with delivery of personal floatation devices

• Flash flood bridge collapse with school bus and vehicle rescue

OPEN TEST LANES

The Open Test Lanes evaluates 5 different flight paths to identify objects from safe altitudes in open 

environments. These tests are scalable for all sizes of aircraft to demonstrate positive control at all times 

with accurate perches. They can be performed outdoors or indoors to control lighting and weather. The 

smallest size lane fits on an indoor basketball or tennis court for small drones and/or novice pilots to 

practice safely without flying in the national airspace.

Figure 4) The standard tests use well defined altitudes, positions, orientations, and perches to evaluate both 

Maneuvering and/or Payload Functionality.

Standard Test Methods for Response Robots ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

48

Scalable Test Lanes for Various Sizes of Aircraft Project Overview

Standard Test Methods for Small Unmanned Aircraft Systems ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

3

Introduction

Remotely operated aerial systems enable emergency 

responders to perform extremely hazardous tasks from 

safer stand-off distances. The U.S. National Institute of 

Standards and Technology is leading an international effort 

to develop standard test methods to help manufacturers, 

procurement professionals, and users objectively evaluate 

system capabilities and remote pilot proficiency to align 

with mission requirements. Thisimproves the safety and 

effectiveness of emergency responders as they save lives 

and protect property in our communities

The first step toward credentialing remote pilots is to get 

everybody onto the same measuring stick. That’s where 

standard test methods can play a key role. These test 

methods for Basic Maneuvering (MAN 1-5) and Payload 

Functionality (PAY 1-5) are being replicated across the 

country and internationally to focus training with 

quantitative measures of remote pilot proficiency. They are 

low cost and easy to replicate so everyone can measure 

their own progress over time and compare their proficiency 

to regional or national averages on similar 

systems. Concurrent test lanes can be set up to enable 

multiple systems and pilots to train or evaluate 

simultaneously. 

They are being standardized through the ASTM 

International Standards Committee on Homeland Security 

Applications; Response Robots (ASTM E54.09). They are also 

referenced as Job Performance Requirements in 

the National Fire Protection Association Standard for Small 

Unmanned Aircraft Systems Used For Public Safety 

Operations (NFPA 2400) and the ASTM Standard Guide for 

Training for Remote Pilot in Command of Unmanned 

Aircraft Systems Endorsement (ASTM F38.03 F3266-18). 

These suites of standard test methods provide common 

measures of capabilities with quantitative results. They can 

be conducted individually, in sequences, or embedded into 

operational training scenarios as repeatable and 

reproducible tasks with scores to augment qualitative 

assessments. Organizations using these tests set their own 

thresholds of acceptable system and pilot performance to 

align with their airspace, environment, and mission 

complexities. But those decisions are easier to make and 

trust when they’re based on quantitative performance data 

captured within standard test methods.

Basic Maneuvering (MAN 1-5) and Payload Functionality (PAY 1-5)

Safety | Capabilities | Proficiency

INSIDE EACH BUCKET

EVALUATE SENSORS

SMALL SYSTEMS LARGE SYSTEMS

INTERFACES PROCEDURES

SENSORS MANEUVERING

MEASURE & COMPARE

1A

SCALABLE TEST LANES (ALTITUDE = SPACING) ALTITUDE

SPACING

OMNI BUCKETS

URES

ERING

RE SCALABLE TEST LANES (ALTITUDE = SPACING)

Page 4 11/9/21

ne crash site

ccident and fire

wn

h

th delivery of personal floatation devices

e with school bus and vehicle rescue

different flight paths to identify objects from safe altitudes in open 

lable for all sizes of aircraft to demonstrate positive control at all times 

e performed outdoors or indoors to control lighting and weather. The 

r basketball or tennis court for small drones and/or novice pilots to 

e national airspace.

well defined altitudes, positions, orientations, and perches to evaluate both 

ctionality.

Standard Test Methods for Response Robots 

 International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

48

t Lanes for Various Sizes of Aircraft

Project Overview

3

Y 1-5)

STEMS

URES

ERING

E

1A

SCALABLE TEST LANES (ALTITUDE = SPACING) ALTITUDE

SPACING

OMNI BUCKETS

RONES

Pilot Organization _____________________________________

Drone Make _____________________________________

Drone Model _____________________________________

Facility Location _____________________________________

Date (YYYY/MM/DD) ______________________

PROCTOR NAME _____________________________________

Pilot FIRST Name _____________________________________

Pilot LAST Name _____________________________________

Team #: ______

ALIGNMENT SCORE: Circle bucket identifiers for images with UNBROKEN RINGS. Strike through all BROKEN RINGS and incomplete buckets. 

Page 3

Figure 3) LEFT: Basic Maneuvering trial scores are based on bucket alignment images showing the 

inscribed ring around the inside perimeter of the bucket. RIGHT: This course focuses on Payload 

Functionality trials that add a modest operational workload at each bucket alignment by zooming into 

the acuity targets in the center of the bucket to correctly identify increasingly small features. The pilot 

Version 2022A 2

yy 

2

INTERNAL TEAM ROTATION

THE PILOT’S BACK TURNED TO THE LANE FORCES 

RELIANCE ON THE INTERFACE 

(VISUAL OBSERVER REQUIRED)

3) Select the minimum proficiency based on 

average or “expert” scores in the same trials:

– Example: 40%, 60%, 80% of “expert”

4) Select pilot view:

– Line of Sight or BVLOS

5) Select lighting (indoor or outdoor) for 

daylight or night credentials:

– Lighted/Daylight or Dark

D

ADDITIONAL

PRACTICE 

INTERFACE ONLY

IN FAMILIARITY 

TRIALS DAY 1 & 2.

USE INTERFACE 

ONLY FOR SCORING 

TRIALS ON DAY 3.

DECLARE EACH 

CONCENTRIC C FOR 

YOUR PROCTOR TO 

SCORE DURING 

THE TRIAL.

y

Open Test Lane

[8] 1⁄4-20 x 2in hanger bolts and wing nuts for the

leg extensions to slide on and tighten

[15] 8in diameter weatherproof stickers

(see website to download the sticker files)

[4] Big numbers 1-1-1-1 inside the top bucket

[4] Big letters A-B-C-D around the top bucket

[5] Acuity targets A-B-C-D inside bottom of all

[2] Perch acuity targets inside and bottom of A

.

The bucket stands are adjusted to vertical using the slotted leg extensions so the angled buckets are at 45 degrees.

Stickers inside each bucket have a GREEN INSCRIBED RING 

to guide alignment and a visual acuity target with 

increasingly small Concentric Cs gaps to identify the 

correct (1 of 8) orientations.

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

Gap size (mm) Gap size (inches) Equivalent Avg. Human vision at 6 m (20 !)

40 mm 1.58 in 4.5 %

16 mm 0.63 in 11 %

6.4 mm 0.25 in 28 %

2.6 mm 0.10 in 70 %

1.0 mm 0.04 in 180 %

0.41 mm 0.016 in 440 %

For accurate calibration, the outer diameter of the largest Landolt C optotype should be 200 mm (7.9 in). 

Standard Test Methods for Response Robots ASTM International Standards Committee on Homeland Security Applications; Operational Equipment; Robots (E54.08.01)

Nested Landolt C Vision Test Chart

#3

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

A

D

C

B 1, 2, 3, 4

LAUNCH

AD

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A ALIGNED (5 PTS)

PARTIAL (1 PT)

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) showing the 

green ring inside the bucket. Score 5 points for a 

continuous green ring or 1 point for a partial. Similar 

scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) AND a single 

acuity image of each target (MAX ZOOM). Score 1 

point for each correct identification of the 5 

increasingly small Concentric C gap directions.

Basic Maneuvering (MAN)

ALIGN WITH BUCKETS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

20 ALIGNMENTS TOTAL UP TO 100 POINTS 20 TARGETS TOTAL UP TO 100 POINTS

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Montgomery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

DOJ/DHS National Unmanned Aircraft Systems Program Evaluation, August 2020

I

CONFINED TEST LANE

GPS DENIED

and

DARK (<1 LUX)

DUAL BUCKET 

ALIGNMENTS

AT 1 M (3 FT) 

PROXIMITY TO 

OBSTACLES

OPEN TEST LANE

B

LENGTH: 30/60 M (100/200 FT)

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

AT 2 M (6 FT) 

PROXIMITY TO 

OBSTACLES

LENGTH: 15 M (50 FT) LENGTH: 7.5 M (25 FT)

ACCURATE (5 PTS)

Align with each bucket long enough to verify the 

inscribed ring and declare as many of the 5 Concentric 

C gap directions as possible to score 1 point each. Use 

video or zoomed in images after the trial to score 

yourself, although scores may differ from live trials. 

BROKEN (1 PT)

ned Aircraft Systems

nd Security Applications; 

tMethods.nist.gov

Page 60

ed Scenarios

HEET

bucket stands in the test lane or as embedded

ts with one or more buckets to identify recessed

aintain the designated position, orientation, and

g at the bottom of the bucket. A single alignment

ional targets inside each bucket evaluate camera

mal acuity and identify color shifts, hazardous

ns from the intended flight paths or contact with

1

2

3

FLIGHT LINE

4

ALTITUDE S

START | END

5(S)

S

S S S S

1A

1B

2B

3B 3C

3D

2D

1D

TRAVERSE

MAN/PAY 2

FLIGHT LINE

4

z

z

z

ALTITUDE S

START | END

3

2

1

5(S)

ALTITUDE 2(S)

S

S S S S

POSITION

MAN/PAY 1

3B

3C

ned Aircraft Systems

nd Security Applications; 

tMethods.nist.gov

Page 60

ed Scenarios

HEET

bucket stands in the test lane or as embedded

ts with one or more buckets to identify recessed

aintain the designated position, orientation, and

g at the bottom of the bucket. A single alignment

ional targets inside each bucket evaluate camera

mal acuity and identify color shifts, hazardous

ns from the intended flight paths or contact with

1

2

3

FLIGHT LINE

4

ALTITUDE S

START | END

5(S)

S

S S S S

1A

1B

2B

3B 3C

3D

2D

1D

TRAVERSE

MAN/PAY 2

FLIGHT LINE

4

z

z

z

ALTITUDE S

START | END

3

2

1

5(S)

ALTITUDE 2(S)

S

S S S S

POSITION

MAN/PAY 1

4 ALTITUDE 2(S)

S

3B 3C

#1 & 3A

3B

3C

3D

ORBIT

MAN/PAY 3

1C BACK

1D RIGHT

ONLY THE NUMBERS 

CHANGE FOR EACH 

OMNI BUCKET STAND

NOT ALIGNED

1A

BROKEN

1

2

3

FLIGHT LINE

ALTITUDE 10ft(3m)

START | END

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

10ft(3m)

FLIGHT LINE

z

z

z

ALTITUDE 10ft (3m)

START | END

3

2

1 10ft(3m)

ALTITUDE 20ft (6m)

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

• Hold Position and Rotate

• Fly Straight and Level

• Climb and Descend

• Move and Rotate

• Land Accurately

s

tests are performed 

n direct line of sight, or 

represent flying beyond 

ssisting visual observer. 

ed flight paths to align 

ckets. Each alignment 

he inscribed green ring 

uckets. Perform all 40 

landings within the 

acuity targets evaluate 

 capabilities along with 

or other objects. Faults 

ude extreme deviations 

h or contact with the 

nclosure.

Test Lane Fabrication

Omni Bucket Stands , Launch/Land Platform, Measuring Tape Centerline

(QTY 01) 15m (50ft) measuring tape centerline

(QTY 01) square panel with 30cm (12in) radius circle

(QTY 03) 10x10x15cm (4x4x6in) posts 

(QTY 12) 5x10x30cm (2x4x12in) legs with 45deg tapers

(QTY 30) 7.5cm (3in) screws attach legs to post – 2 per

(QTY 30) 4cm (1-1/2in) screws attach buckets – 2 per

(QTY 15) 7.5-liter (2-gallon) white buckets

(QTY 52) 20cm (8in) round polyester weatherproof labels. 

Download and print targets and lettering from the online 

USAGE GUIDE or at RobotTestMethods.nist.gov.

A thick black marker can also be used to inscribe 2.5cm (1in) 

rings inside buckets with written letters and numbers. 

TRAVERSE (MANEUVERING 2): Fly sideways leftward and rightward 

around all three stands offset from the centerline at 10ft (3m) distance 

and altitude. Align with the outward pointing angled buckets along the 

path long enough to CAPTURE ONE IMAGE OF EACH BUCKET showing 

the inscribed rings. Then land centered on the platform with at least one 

leg in the 12in radius circle.

POSITION (MANEUVERING 1): Fly to the designated positions and 

orientations along the lane centerline at 10ft (3m) altitude and 20ft (6m) 

altitude. Simultaneously align with two buckets in each position long 

enough to CAPTURE ONE IMAGE OF EACH BUCKET showing the 

inscribed ring. Then land centered on the platform with at least one leg in 

the 12in radius circle. CAPTURE PRE-LAUNCH CLOCK IMAGE – LAUNCH TIME (HH:MM:SS) : : 

CIRCLE ALIGNED

1 LAUNCH AND HOVER OVER STAND #1 TO ALIGN WITH 1 & 2A

2 YAW LEFTWARD 360° OVER STAND #1 TO ALIGN WITH 1 & 2A

3 YAW RIGHTWARD 360° OVER STAND #1 ALIGN WITH 1 & 2A

4 CLIMB VERTICALLY OVER STAND #1 TO ALIGN WITH 1 & 3A

5 DESCEND VERTICALLY OVER STAND #1 TO ALIGN WITH 1 & 2A

6 PITCH FORWARD OVER STAND #2 TO ALIGN WITH 2 & 3A

7 PITCH BACKWARD OVER STAND #1 TO ALIGN WITH 1 & 2A

8 PITCH FORWARD OVER STAND #2 THEN YAW LEFT 180° 2 & 1C

9 PITCH FORWARD OVER LANDING THEN YAW RIGHT 180° L & 1A

10 LAND IN CIRCLE (ONE OR MORE LEGS ) – WORTH 2 POINTS 1pt & 1pt 

CIRCLE ALIGNED

11 HOVER OVER THE LAUNCH PLATFORM TO ALIGN WITH 1A

12 ORBIT 90° LEFTWARD AROUND STAND #1 TO ALIGN WITH 1B

13 ROLL LEFTWARD TO STAND #2 TO ALIGN WITH 2B

14 ROLL LEFTWARD TO STAND #3 TO ALIGN WITH 3B

15 ORBIT 90° LEFTWARD AROUND STAND #3 TO ALIGN WITH 3C

16 ORBIT 90° LEFTWARD AROUND STAND #3 TO ALIGN WITH 3D

17 ROLL LEFTWARD TO STAND #2 TO ALIGN WITH 2D

18 ROLL LEFTWARD TO STAND #1 TO ALIGN WITH 1D

19 ORBIT 90° LEFTWARD AROUND STAND #1 TO ALIGN WITH 1A

20 LAND IN CIRCLE (ONE OR MORE LEGS) – WORTH 1 POINT 1pt

CIRCLE ALIGNED

21 HOVER OVER THE LAUNCH PLATFORM TO ALIGN WITH 1A

22 ORBIT 90° RIGHTWARD AROUND STAND #1 TO ALIGN WITH 1D

23 ROLL RIGHTWARD TO STAND #2 TO ALIGN WITH 2D

24 ROLL RIGHTWARD TO STAND #3 TO ALIGN WITH 3D

25 ORBIT 90° RIGHTWARD AROUND STAND #3 TO ALIGN WITH 3C

26 ORBIT 90° RIGHTWARD AROUND STAND #3 TO ALIGN WITH 3B

27 ROLL RIGHTWARD TO STAND #2 TO ALIGN WITH 2B

28 ROLL RIGHTWARD TO STAND #1 TO ALIGN WITH 1B

29 ORBIT 90° RIGHTWARD AROUND STAND #1 TO ALIGN WITH 1A

30 LAND IN CIRCLE (ONE OR MORE LEGS ) – WORTH 1 POINT 1pt

 : : 

 :

BASIC PROFICIENCY FORM (10 MINUTE TIME LIMIT)

 Pilot: 

 Org: 

 Email: 

POSITION TEST – FLYING ALONG CENTERLINE

CAPTURE ONLY ONE IMAGE OF EACH BUCKET – CIRCLE ALIGNED IMAGES AND LANDINGS

 CIRCLE ONE: FAIL ( SCORE | TIME | SAFETY ) OR PASS

 CAPTURE CLOCK IMAGE AFTER LANDING – LAND TIME (HH:MM:SS)

 _______ / 40 MINIMUM PASSING SCORE – TOTAL SCORE (POINTS)

 STOP THE TIMER OR CALCULATE RESULT – ELASPED TIME (MM:SS)

 Zip Code: Date (MM/DD/YY): 

 Make: Model: 

TRAVERSE TEST – FLYING LEFTWARD 

 TRAVERSE TEST – FLYING RIGHTWARD

LEVEL

BASIC PROFICIENCY

LEVEL 1 | OPEN LANE

(FILL IN) (CIRCLE ONE or FILL IN)

5

MIN

10

MIN

__

MIN

PILOT VIEW TIME LIMIT

LINE OF

SIGHT

INTERFACE

ONLY

(CIRCLE ONE)

FACINE LANE

OPTIONAL V.O.

BACK TO LANE

MANDATORY V.O.

WIND

AVERAGE

_____

GUSTS

_____

MPH MPH

(CIRCLE ONE)

VISIBILITY

LIGHTED

300+ LUX

DARK

< 1 LUX

(CIRCLE ONE) (CIRCLE ONE)

5 FT

(1.5 M)

10 FT

(3 M)

20 FT

(6 M)

4 IN

(10 CM)

8 IN

(20 CM)

BUCKET DIAM. LANE SPACING (S)