Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

VERSION 2023A

• All sequences have 1–10 positions with 20 alternating white and black buckets to score:

• Score ALIGNMENT POINTS by capturing a SINGLE IMAGE of the inscribed rings to verify alignments during or after the

trial: UNBROKEN RINGS (5 pts), BROKEN RINGS (1 pt).

• Score ACUITY POINTS by identifying and calling out the 5 increasingly small VISUAL ACUITY TARGET GAPS (1 pt each).

• Faults for extreme deviations from the intended flight path or contact with any object ends the trial to ensure safety.

• Timer starts at launch and ends after the last task is completed. Trial time limits are typically set to 5 minutes each (25

minutes to complete all 5 tests) although organizations may set their own trial time limits and passing scores.

Obstructed Vehicle Inspection Scenarios

Day and Night Trials

OTHER OBJECT

< 10 FT ALTITUDE AND RADIUS

10 FT

7 of 11

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

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

Maintain Physical Distancing and Wear Face Coverings

Participants are not required to wear face coverings when working alone outdoors, except when others are 

present. Participants will carry face coverings and wear these when others approach. Minimum physical distances 

of 2 m (6 ft) will be maintained at all times.

Wash Hands Often and Disinfect Surfaces

Participants will wash their hands at the outdoor hand-washing station set up for the event. They should also 

disinfect commonly touched surfaces before initial use and after.

Safety Briefings and Other Gatherings

Safety briefings will be conducted each morning in the outdoor pavilion with physical distancing and mask wearing. 

Any gathering of people on the site should include physical distancing and masks. 

 Figure 1: LEFT) The outdoor pavilion will be set up for physical distancing. RIGHT) It can contain at least 14 people 

seated and 14 more standing in the designated surrounding locations. All are more than 2 m (6 ft) apart.

Pilot Stations:

Each test lane and scenario distributed across the site will have an EZ Up tent which is 3 m (10 ft) square to provide 

shade as a pilot station. There will be no more than four people at any single EZ Up.

Figure 2: Each pilot station typically includes a Pilot, Proctor, and Videographer. All will remain at least 2 m (6 ft) 

apart.

3 m (10 ft)

3 m (10 ft)

TEST LANE or SCENARIO

VIDEOGRAPHER PROCTOR PILOT

PILOTS

A

B C

D

INSPECT 

< 50 FT ALTITUDE AND RADIUS

OVERWATCH 

< 200 FT ALTITUDE AND RADIUS C

D

B

A

LAUNCH/LAND

CENTER

OVERWATCH

INSPECT

OBJECT

VEHICLE

STRUCTURE

ANYTHING OTHER OBJECT

< 10 FT ALTITUDE AND RADIUS

10 FT

7 of 11

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

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

Maintain Physical Distancing and Wear Face Coverings

Participants are not required to wear face coverings when working alone outdoors, except when others are 

present. Participants will carry face coverings and wear these when others approach. Minimum physical distances 

of 2 m (6 ft) will be maintained at all times.

Wash Hands Often and Disinfect Surfaces

Participants will wash their hands at the outdoor hand-washing station set up for the event. They should also 

disinfect commonly touched surfaces before initial use and after.

Safety Briefings and Other Gatherings

Safety briefings will be conducted each morning in the outdoor pavilion with physical distancing and mask wearing. 

Any gathering of people on the site should include physical distancing and masks. 

 Figure 1: LEFT) The outdoor pavilion will be set up for physical distancing. RIGHT) It can contain at least 14 people 

seated and 14 more standing in the designated surrounding locations. All are more than 2 m (6 ft) apart.

Pilot Stations:

Each test lane and scenario distributed across the site will have an EZ Up tent which is 3 m (10 ft) square to provide 

shade as a pilot station. There will be no more than four people at any single EZ Up.

Figure 2: Each pilot station typically includes a Pilot, Proctor, and Videographer. All will remain at least 2 m (6 ft) 

apart.

3 m (10 ft)

3 m (10 ft)

TEST LANE or SCENARIO

VIDEOGRAPHER PROCTOR PILOT

PILOTS

A

B C

D

INSPECT 

< 50 FT ALTITUDE AND RADIUS

OVERWATCH 

< 200 FT ALTITUDE AND RADIUS C

D

B

A

LAUNCH/LAND

CENTER

OVERWATCH

INSPECT

OBJECT

VEHICLE

STRUCTURE

ANYTHING

ROTATION

CONCURRENT OBJECTIVES

FOR 3 TEAMS TO FLY

PERCH

WHITE BUCKET ALIGNMENTS BLACK BUCKET ALIGNMENTS

Page 19 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

Structure exterior inspection tasks include looking through windows and doors along with surrounding 

ground objects of interest. In this case, the tasks were embedded around a partially collapsed 

structure. The objective was to safely fly in close proximity of about 2 m (6 ft) from the windows and doors 

to perform a window/door clearing maneuver with high/low and left/right views inside the structure. 

 

Figure 26) Obstructed apparatuses are set up in sets of vertical and horizontal tasks throughout the 

scenario.

Figure 27) The scenario façade was embedded with window inspection tasks on two sides with partially 

collapsed walls. Each Dual Bucket Alignment guides the remote pilot to positions and orientations with 

high/low and left/right views inside the windows.

ALIGNED DRONE LOOKING 

THROUGH THE WINDOW

VERTICAL

HORIZONTAL

ALIGNMENT TASKS IN 

WINDOW/DOORS

Page 16 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

 

Figure 19) LEFT: Other interior tasks using the small buckets in confined search spaces. CENTER: Two 

apparatuses require vertical alignments. RIGHT: Three apparatuses require horizontal alignments. This is the 

final perch position to maintain a view of an object of interest.

Obstructed Scenario: Vehicle Takedown 

Quad Screen Trial Video Example - Vehicle Takedown

Figure 20) LEFT: Vehicles of all sizes and conditions can be bucketized similarly for quantitative scoring, 

including panel vans and trucks. RIGHT: Dual bucket alignments guide the drone into position to look inside 

the front windshield from two different angles while using triangulation between the buckets to stay safe.

 

Figure 21) The bucket numbering leads the pilot around an orbit starting in front of the vehicle, then around 

to the driver side, and so on. The large buckets targets are identified in the first orbit to assess the situation 

WHITE BUCKET ALIGNMENTS

BLACK BUCKET ALIGNMENTS

HORIZONTAL VERTICAL

USE SETS OF 5 “INLINE” DUAL BUCKET RAILS 

DISTRIBUTED THROUGHOUT THE SCENARIO

• Teams concurrently fly separate objectives set up at 

safe distances and/or altitudes apart (with a clearly 

designated and safe return path).

• Each pilot flies for 15 minutes across 3 different 

objectives for 5 minutes each. Teams move as 

necessary to maintain sight lines and communication.

• Scenarios restart with a different rotation of Pilot, 

Proctor, and VO.

Obstructed Search Scenarios

Day and Night Trials

USE SETS OF 5 “OFFSET” DUAL BUCKET RAILS 

HORIZONTALS DISTRIBUTED WITH OBJECTS OF INTEREST

Figure 27) The scenario façade was embedded with window inspection tasks on two sides with partially 

collapsed walls. Each Dual Bucket Alignment guides t

ALIGNED DRONE LOOKING 

THROUGH THE WINDOW

VERTICALS IN ELEVATED WINDOWS AND ON STRUCTURES

67

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

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

Figure 2) The Obstructed Test Lanes and related scenarios address different mission complexities

requiring drones to fly in close proximity to outdoor objects to inspect detailed features from 2-3 m (6-

10 ft).

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

10

Measuring sUAS Performance: Close Proximity Inspection

Safety | Capabilities | Proficiency

VEHCLE INSPECTION

OBJECT INSPECTION

STRUCTURE INSPECTION STRUCTURE INSPECTION

DUAL BUCKET ALIGNMENTS GUIDE 

PILOTS INTO SAFE POSITIONS 

WITHIN PROXIMITY TO OBJECTS

Obstructed Test Lane and Related Operational Scenarios 

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Scoring Payload Functionality Trials

Payload Functionality Trials with Pilot Back Turned

INTERNAL TEAM ROTATION

Select Trial Settings for Different Flight Credentials

Focus Training and Evaluate Proficiency for Credentialing

CREDENTIALS Daylight/LOS BVLOS Night Ops

Standard Lane 

(Indoor or Outdoor)

Pilot’s Eyes On 

(Available)

Pilot’s Back Turned

(Interface Only) Lights Out, Buckets Lit

Embedded Scenario (Indoor or Outdoor)

Pilot’s Eyes On 

(Available)

Pilot’s Back Turned

(Interface Only) Lights Out, Buckets Lit

ILLUMINATED BUCKETS PROVIDE 

POSITIONING AIDS LIKE STRUCTURE 

WINDOWS OR STREET LIGHTS

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

THE PILOT’S BACK TURNED TO THE LANE FORCES 

RELIANCE ON THE INTERFACE 

(VISUAL OBSERVER REQUIRED)

1) Select the test lane and scenarios based 

on the intended environment and aircraft: 

– Open, Obstructed, or Indoor

2) Select the test procedure and time limit 

based on the intended mission:

– MAN (5 min. each) or PAY (10 min. each)

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

DAYLIGHT / LOS 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

Conduct Tests Two Ways

Open Test Lane

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

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

5

Bucket Stands Each lane uses (4) omni-directional bucket stands, a 

Launch/Land Platform, and a measuring taps 

centerline. The parts for each stand include:

[1] 4x4x6in center post

[4] 2x4x12in legs with 45deg taper both ends

[5] 2-gallon white buckets (8in diameter)

10] 3in screws to affix the legs – 2 per leg at top

[5] 1in screws to affix the buckets

[4] Slotted leg extensions

[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

.

Stickers inside each bucket have a GREEN INSCRIBED RING 

to guide alignment and a visual acuity target with 

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

DATE/TIME

PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

(4) OMNI STANDS

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

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

AT 2 M (6 FT) 

PROXIMITY TO 

OBSTACLES

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. 

Standard Test Methods for Small Unmanned Ai

ASTM International Standards Committee for Homeland Security 

Response Robots (E54.09) Website: RobotTestMethods.

Figure 2) The Obstructed Test Lanes and related scenarios addres

requiring drones to fly in close proximity to outdoor objects to inspect 

10 ft).

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Measuring sUAS Performance: Close Proximity 

Safety | Capabilities | Proficiency

VEHCLE INSPECTION

OBJECT INSPECTION

STRUCTURE INSPECTION ST

D

Obstructed Test Lane and Related Operation

Standard Test Methods for Small Unmann

ASTM International Standards Committee on Homelan

Response Robots (E54.09) | Website: RobotTest

Scoring Payload Funct

Payload Functionality Trials wit

Se

Fo

1) Select the test lane a

on the intended env

– Open, Obstructed, 

2) Select the test proced

based on the intende

– MAN (5 min. each) 

3) Select the minimum p

average or “expert” s

– Example: 40%, 60%

4) Select pilot view:

– Line of Sight or BVL

5) Select lighting (indoo

daylight or night cred

– Lighted/Daylight or 

DAYLIGHT / LOS ADDITIONAL

Conduct Tests Two Ways

Open Test Lane

Standard Test Methods for Small Unmanned Aircraft Sy

ASTM International Standards Committee on Homeland Security Applica

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

Bucket Stands

Each lane uses (4) omni-directional bucket stands, a 

Launch/Land Platform, and a measuring taps 

centerline. The parts for each stand include:

[1] 4x4x6in center post

[4] 2x4x12in legs with 45deg taper both ends

[5] 2-gallon white buckets (8in diameter)

10] 3in screws to affix the legs – 2 per leg at top

[5] 1in screws to affix the buckets

[4] Slotted leg extensions

[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

.

PILOT CODE

100-300 

A

C

B 1, 2, 3, 4

AD

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 buc

single alignment im

acuity image of eac

point for each corre

increasingly small C

Basic Maneuvering (MAN)

ALIGN WITH BUCKETS AND LAND ACCURATELY

Payload Funct

ALIGN AND IDENT

20 ALIGNMENTS TOTAL UP TO 100 POINTS 20 TARGET

Standard Test M

ASTM International 

Response Rob

Montgomery County Polic

Safety | C

DOJ/DHS National Unmanned Air

OPEN TEST LANE

B

E

DUAL BUCKET 

Align with each buc

inscribed ring and d

C gap directions as 

video or zoomed in 

yourself, although 

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

ery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

S EXTERIOR WINDOWS EXTERIOR GROUND INTERIOR ROOMS INTERIOR STAIRS INTERIOR BUS

nal Unmanned Aircraft Systems Program Evaluation, August 2020

Operational Scenarios with Embedded Scoring 

Each with 20 buckets/targets, 100 points maximum)

F G J K x2 L M

PERCH

SCORABLE SCENARIOS

LEVEL 4 | OBSTRUCTED Perform the designated flight paths to 

triangulate around dual bucket rails in various 

orientations. Align with perpendicular buckets 

then angled buckets. Use zoom and exposure 

control to identify targets inside the buckets. 
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

ALIGNMENT SCORE: Circle points for images with UNBROKEN RINGS (5 pts), BROKEN RINGS (1 pt), Draw a line through all incomplete. 

ACUITY SCORE: Circle correctly identified GAP DIRECTIONS in the answer key (1 pt each). 

Page 3

10 ft).

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

Payload Functionality Trials with Pilot Back Turned

2

INTERNAL TEAM ROTATION

ILLUMINATED BUCKETS 

POSITIONING AIDS LIKE S

WINDOWS OR STREET 

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

THE PILOT’S BACK TURNED TO THE LANE FORCES 

RELIANCE ON THE INTERFACE 

(VISUAL OBSERVER REQUIRED)

– MAN (5 min. each) or PAY (10 min. each)

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

DAYLIG

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.

Conduct Tests Two Ways

Open Test Lane

[5] 1in screws to affix the buckets

[4] Slotted leg extensions

[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

DATE/TIME

PILOT CODE

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)

Payload Functionality Trials (PAY 1-5)

Scoring based on visual acuity targets

ALIGN THEN CONTROL ZOOM AND EXPOSURE

• Payload Functionality trails use alternating white and 

black bucket stands to apply a zoom/exposure 

workload at each alignment to identify acuity targets. 

• Align with each bucket long enough to verify the 

inscribed ring and verbally call out as many of the 

Concentric C gap directions as possible (1 pt each).

• Fly facing away from the test lane or scenario (with a 

visual observer) to rely only on your interface as if 

flying BVLOS.

•

Page 3

aneuvering trial scores are based on bucket alignment images showing the 

he inside perimeter of the bucket. RIGHT: This course focuses on Payload 

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

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

2

Payload Functionality Trials with Pilot Back Turned

2

INTERNAL TEAM ROTATION

ILLUMINATED BUCKETS PROVIDE 

POSITIONING AIDS LIKE STRUCTURE 

WINDOWS OR STREET LIGHTS

BACK TURNEDFACING LANE 

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

DA

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.

Conduct Tests Two Ways

Open Test Lane

hanger bolts and wing nuts for the

ons to slide on and tighten

er weatherproof stickers

te to download the sticker files)

mbers 1-1-1-1 inside the top bucket

ters A-B-C-D around the top bucket

targets A-B-C-D inside bottom of all

cuity targets inside and bottom of A

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

ucket have a GREEN INSCRIBED RING 

nd a visual acuity target with 

ncentric Cs gaps to identify the 

tations.

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

P

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

D

C

B 1, 2, 3, 4

AD

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 

cket long enough to capture a 

age (NO ZOOM) showing the 

e bucket. Score 5 points for a 

or 1 point for a partial. Similar 

r 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.

c Maneuvering (MAN)

TS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

TAL 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. 

18 7

4

ENTERLINE

ALIGN

NON-STOP

z

S

5(S)

CCW

4

5(S)

ainable speed directly over 

h a stable hover over an 

nnaissance tasks. 

ut starting over the 

designated buckets and 

 lane.

each bucket and the 

ments after the trial. 

uded in this test. 

ce of 80(S).

N): Complete 5 laps with 20 

 to 100 alignment points. 

AY): Same as Basic 

ntify as many acuity target 

 100 acuity points.

Unmanned Aircraft Systems Small Standard Test Methods for 

ASTM International Standards Committee for Homeland Security Applications;

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

4 Page 

as many of the ts when correctly identifying scores poin and when they are aligned res the verbally decla

center acuity target. directions in the gap 5 increasingly small Concentric C 

. Alternating black trials Figure 4) All white omni bucket stands are used to evaluate Basic Maneuvering

. The visual acuity targets inside are trials omni bucket stands evaluate Payload Functionality and white 

Alternating either black on white or white on black to maintain the intended contrast with the buckets. 

e points. forces control of exposure to score all availabl buckets 

) LEFT: The remote pilot can fly either facing the test lane or with their back turned to fly 5 Figure 

a visual observer when with only as if operating beyond visual line of sight interface the using 

the as by rotating through roles Pilot teams help each other fly safely and efficiently required. RIGHT: 

Pilot, Visual Observer, and Proctor to practice each role.

11/9/21 5 Page 

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

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

Figure 5) There are two ways to conduct test trials in the most basic Open Test Lane. LEFT: Basic 

ite buckets to guide alignments with to capture NO ZOOM images. RIGHT: Maneuvering trials use only wh

Payload Functionality trials add some operational workload to each bucket alignment task by capturing 

hite and black buckets MAX ZOOM images of the visual/thermal acuity targets. They also use alternating w

to maximize exposure control.

Figure 6) Open test lanes with all white buckets are used to evaluate basic Maneuvering trials only, which is 

buckets are used to the typical starting point for novice pilots. Test lanes with alternating white and black 

evaluate operational readiness and system capabilities.

Conduct Tests Two Ways

Open Test Lane

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

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

5

Stands Bucket directional bucket stands, a - Each lane uses (4) omni

Platform, and a measuring taps Launch/Land

parts for each stand include: The centerline.

post center in 6x4x4 ] 1[

ends both taper deg 45 with legs in 12 x4x2 ] 4[

diameter) in 8( buckets white gallon - 2 ] 5[

top at leg per 2 – legs the affix to screws in 3 ] 10

buckets the affix to screws in 1 ] 5[

extensions leg Slotted ] 4[

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

tighten and on slide to extensions leg

stickers weatherproof diameter in 8 ] 15 [

files) sticker the download to website see (

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

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

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

A of bottom and inside targets acuity Perch ] 2[

.

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

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

) ! Equivalent Avg. Human vision at 6 m (20 Gap size (inches) Gap size (mm) 4.5 % 1.58 in 40 mm

11 % 0.63 in 16 mm

28 % 0.25 in 6.4 mm

70 % 0.10 in 2.6 mm

180 % 0.04 in 1.0 mm

440 % 0.016 in 0.41 mm

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

DATE/TIME PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

300 FT MEASURING TAPE - 100

(4) OMNI STANDS

A

D

C

1, 2, 3, 4 B

LAUNCH

DA

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A PARTIAL (1 PT) ALIGNED (5 PTS)

a enough to capture each bucket long Align with 

the showing (NO ZOOM) single alignment image 

bucket. Score 5 points for a ring inside the green 

continuous green ring or 1 point for a partial green 

ring. Similar scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

of each bucket ) single alignment image (NO ZOOM

of each MAX ZOOM) single acuity image ( AND a 

target. Score 1 point for each correct identification of 

. directions increasingly small Concentric C gap 5 the 

) Basic Maneuvering (MAN

ALIGN WITH BUCKETS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

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

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Montgomery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

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

I

CONFINED TEST LANE

GPS DENIED

d an

DARK (<1 LUX)

DUAL BUCKET 

ALIGNMENTS

AT 1 M (3 FT) 

PROXIMITY TO 

OBSTACLES

LANE OPEN TEST 

B

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

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

(6 FT) AT 2 M

PROXIMITY TO 

OBSTACLES

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

ACCURATE (5 PTS)

BLACK BUCKETS & COLOR RINGS 

EMBEDDED INTO SCENARIOS

1

TOP

1A FRONT 

BACK 1C 1B LEFT 

RIGHT 1D 

ALL “A” BUCKETS

POINT TOWARD THE 

LAUNCH LAND /

HANDLE

CENTERLINE

ONLY THE NUMBERS 

CHANGE FOR EACH 

OMNI BUCKET STAND

1A

BROKEN INNER BLACK EDGE

IS THE JUDGEMENT POINT

POST

LEGS 

FLUSH WITH TOP

SHOWN ALIGNED ALIGNED NOT SHOWN 

BUCKETS & GREEN RINGS WHITE 

STANDARD TEST LANES IN 

Select Trial Settings for Different Flight Credentials

Focus Training and Evaluate Proficiency for Credentialing

Night Ops BVLOS Daylight/LOS CREDENTIALS

Standard Lane 

(Indoor or Outdoor)

Pilot’s Eyes On 

(Available)

Pilot’s Back Turned

(Interface Only) Lights Out, Buckets Lit

Embedded Scenario (Indoor or Outdoor)

Pilot’s Eyes On 

(Available)

Pilot’s Back Turned

(Interface Only) Lights Out, Buckets Lit

ILLUMINATED BUCKETS PROVIDE 

POSITIONING AIDS LIKE STRUCTURE 

WINDOWS OR STREET LIGHTS

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

THE PILOT’S BACK TURNED TO THE LANE FORCES 

RELIANCE ON THE INTERFACE 

(VISUAL OBSERVER REQUIRED)

Select the test lane and scenarios based 1)

on the intended environment and aircraft: 

Open, Obstructed, or Indoor –

Select the test procedure and time limit 2)

based on the intended mission:

MAN (5 min. each) or PAY (10 min. each) –

Select the minimum proficiency based on 3)

average or “expert” scores in the same trials:

Example: 40%, 60%, 80% of “expert” –

Select pilot view: 4)

Line of Sight or BVLOS –

Select lighting (indoor or outdoor) for 5)

daylight or night credentials:

Lighted/Daylight or Dark –

DAYLIGHT / LOS ADDITIONAL

Line of SightE LAN FACINGInstruments Only D TURNE BACK

Interface

Only

BACK TURNED

Line of

Sight

FACING LANE • Verify your score after 

the trial using captured 

video, although scores 

may vary due to 

increased image or 

monitor resolution.

REPORT GAP DIRECTIONS RELATIVE TO THE BUCKET NUMBER (TOP)

TEST OR 

SCENARIO

Pilot with Interface

FACING AWAY

Visual Observer

FACING AIRCRAFT

OBSTRUCTED | SEARCH BUCKETS MANEUVERING (MAN) 

NUMBER CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

2 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

3 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

4 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

5 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

6 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

7 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

8 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

9 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 5 5 1 0 ––– ––– ––– ––– –––

10 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 5A 5 1 0 BL R TL L BL

11 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 6 5 1 0 ––– ––– ––– ––– –––

12 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 6A 5 1 0 TR B TR L BR

13 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 7 5 1 0 ––– ––– ––– ––– –––

14 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 7A 5 1 0 L BR T TL R

15 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 8 5 1 0 ––– ––– ––– ––– –––

16 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 8A 5 1 0 BR T TL R BL

17 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 9 5 1 0 ––– ––– ––– ––– –––

18 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 9A 5 1 0 T BL B TR L

19 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 10 5 1 0 ––– ––– ––– ––– –––

20 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 10A 5 1 0 BL R TL L BL

SCORES MAN 

/100

 START TIMER (CAPTURE CLOCK IMAGE) : : CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

 STOP TIMER (CAPTURE CLOCK IMAGE) : : PAY 

/50

ALIGNMENT PAYLOAD (PAY) ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

6

R1

R2

R3 

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

2 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

3 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

4 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

5 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

6 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

7 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

8 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

9 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

10 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

11 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

12 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

13 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

14 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

15 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

16 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

17 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

18 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

19 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

20 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : CIRCLE GAPS CORRECTLY IDENTIFIED BY 

THE PILOT DURING THE TRIAL 

t Methods for Small Unmanned Aircraft Systems

national Standards Committee for Homeland Security Applications;

onse Robots (E54.09) Website: RobotTestMethods.nist.gov

Page 13

m the wall guided by dual bucket alignments in various 

easures the field of view of an independent pan-tilt-zoom 

e-launch, rotate, and land to identify all the targets in order.

6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

y features upward and downward. This approximates inspection 

s and doors.

1

3 4

2

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

OBSTRUCTED | VEHICLE BUCKETS MANEUVERING (MAN) 

NUMBER CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

2 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

3 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

4 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

5 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

6 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

7 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

8 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

9 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 5 5 1 0 ––– ––– ––– ––– –––

10 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 5A 5 1 0 BL R TL L BL

11 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 6 5 1 0 ––– ––– ––– ––– –––

12 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 6A 5 1 0 TR B TR L BR

13 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 7 5 1 0 ––– ––– ––– ––– –––

14 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 7A 5 1 0 L BR T TL R

15 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 8 5 1 0 ––– ––– ––– ––– –––

16 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 8A 5 1 0 BR T TL R BL

17 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 9 5 1 0 ––– ––– ––– ––– –––

18 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 9A 5 1 0 T BL B TR L

19 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 10 5 1 0 ––– ––– ––– ––– –––

20 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 10A 5 1 0 BL R TL L BL

SCORES MAN 

/100

 START TIMER (CAPTURE CLOCK IMAGE) : : CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

 STOP TIMER (CAPTURE CLOCK IMAGE) : : PAY 

/50

ALIGNMENT PAYLOAD (PAY) ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

2 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

3 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

4 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

5 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

6 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

7 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

8 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

9 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

10 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

11 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

12 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

13 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

14 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

15 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

16 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

17 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

18 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

19 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

20 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : CIRCLE GAPS CORRECTLY IDENTIFIED BY 

THE PILOT DURING THE TRIAL 

4 

st Methods for Small Unmanned Aircraft Systems

national Standards Committee for Homeland Security Applications;

onse Robots (E54.09) Website: RobotTestMethods.nist.gov

Page 13

m the wall guided by dual bucket alignments in various 

measures the field of view of an independent pan-tilt-zoom 

re-launch, rotate, and land to identify all the targets in order.

6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

y features upward and downward. This approximates inspection 

s and doors.

1

3 4

2

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

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

Page 13

PERCH TEST

The drone lands 2 m (6 ft) from the wall guided by dual bucket alignments in various 

orientations. A single perch measures the field of view of an independent pan-tilt-zoom 

camera. Others may need to re-launch, rotate, and land to identify all the targets in order.

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Perch (PAY 6)

Obstructed Test Lane

• Land within 2-3 m (6-10 ft) of a wall in front of the 

aircraft with ground obstacles on both sides. 

• While perched, inspect vertical and horizontal object 

features upward, downward, leftward and rightward. 

• Launch and land repeatedly if necessary to score all 

buckets in the sequence.

• Measure the field of view of the drone while perched 

with independent pan-tilt-zoom cameras. 

Payload Functionality Trials (PAY): 

• Align with the PERPENDICULAR BUCKETS first and 

capture an image of the inscribed rings that can be used 

to score up to 50 alignment points after the trial. 

• Align with the ANGLED BUCKETS second to identify as 

many acuity target gaps as possible to score up to 50 

acuity points. Call out the gap directions to the Proctor.

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

SCORED ONLY WHILE LANDED

10 Positions = 20 Buckets = 100 Total Points

LAUNCH FORWARD REVERSE FORWARD LAND

LAUNCH 1 2 3 4 3 2 1 2 3 4 LAND

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

STOP TIMER.

RECORD SCORES AND ELAPSED TIME.

ELAPSED TIME ( MM : SS) TOTAL SCORE

STOP TIMER.

RECORD SCORES AND ELAPSED TIME.

ELAPSED TIME ( MM : SS) ELAPSED TIME (MM:SS) TOTAL SCORE ELAPSED TIME (MM:SS)

WHILE PERCHED WHILE PERCHED

Page 3

10 ft).

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

Payload Functionality Trials with Pilot Back Turned

2

INTERNAL TEAM ROTATION

ILLUMINATED BUCKETS 

POSITIONING AIDS LIKE S

WINDOWS OR STREET 

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

THE PILOT’S BACK TURNED TO THE LANE FORCES 

RELIANCE ON THE INTERFACE 

(VISUAL OBSERVER REQUIRED)

– MAN (5 min. each) or PAY (10 min. each)

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

DAYLIG

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.

Conduct Tests Two Ways

Open Test Lane

[5] 1in screws to affix the buckets

[4] Slotted leg extensions

[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

DATE/TIME

PILOT CODE

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)

Payload Functionality Trials (PAY 1-5)

Scoring based on visual acuity targets

ALIGN THEN CONTROL ZOOM AND EXPOSURE

• Payload Functionality trails use alternating white and 

black bucket stands to apply a zoom/exposure 

workload at each alignment to identify acuity targets. 

• Align with each bucket long enough to verify the 

inscribed ring and verbally call out as many of the 

Concentric C gap directions as possible (1 pt each).

• Fly facing away from the test lane or scenario (with a 

visual observer) to rely only on your interface as if 

flying BVLOS.

•

Page 3

aneuvering trial scores are based on bucket alignment images showing the 

he inside perimeter of the bucket. RIGHT: This course focuses on Payload 

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

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

2

Payload Functionality Trials with Pilot Back Turned

2

INTERNAL TEAM ROTATION

ILLUMINATED BUCKETS PROVIDE 

POSITIONING AIDS LIKE STRUCTURE 

WINDOWS OR STREET LIGHTS

BACK TURNEDFACING LANE 

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

DA

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.

Conduct Tests Two Ways

Open Test Lane

hanger bolts and wing nuts for the

ons to slide on and tighten

er weatherproof stickers

te to download the sticker files)

mbers 1-1-1-1 inside the top bucket

ters A-B-C-D around the top bucket

targets A-B-C-D inside bottom of all

cuity targets inside and bottom of A

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

ucket have a GREEN INSCRIBED RING 

nd a visual acuity target with 

ncentric Cs gaps to identify the 

tations.

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

P

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

D

C

B 1, 2, 3, 4

AD

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 

cket long enough to capture a 

age (NO ZOOM) showing the 

e bucket. Score 5 points for a 

or 1 point for a partial. Similar 

r 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.

c Maneuvering (MAN)

TS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

TAL 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. 

18 7

4

ENTERLINE

ALIGN

NON-STOP

z

S

5(S)

CCW

4

5(S)

ainable speed directly over 

h a stable hover over an 

nnaissance tasks. 

ut starting over the 

designated buckets and 

 lane.

each bucket and the 

ments after the trial. 

uded in this test. 

ce of 80(S).

N): Complete 5 laps with 20 

 to 100 alignment points. 

AY): Same as Basic 

ntify as many acuity target 

 100 acuity points.

Unmanned Aircraft Systems Small Standard Test Methods for 

ASTM International Standards Committee for Homeland Security Applications;

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

4 Page 

as many of the ts when correctly identifying scores poin and when they are aligned res the verbally decla

center acuity target. directions in the gap 5 increasingly small Concentric C 

. Alternating black trials Figure 4) All white omni bucket stands are used to evaluate Basic Maneuvering

. The visual acuity targets inside are trials omni bucket stands evaluate Payload Functionality and white 

Alternating either black on white or white on black to maintain the intended contrast with the buckets. 

e points. forces control of exposure to score all availabl buckets 

) LEFT: The remote pilot can fly either facing the test lane or with their back turned to fly 5 Figure 

a visual observer when with only as if operating beyond visual line of sight interface the using 

the as by rotating through roles Pilot teams help each other fly safely and efficiently required. RIGHT: 

Pilot, Visual Observer, and Proctor to practice each role.

11/9/21 5 Page 

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

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

Figure 5) There are two ways to conduct test trials in the most basic Open Test Lane. LEFT: Basic 

ite buckets to guide alignments with to capture NO ZOOM images. RIGHT: Maneuvering trials use only wh

Payload Functionality trials add some operational workload to each bucket alignment task by capturing 

hite and black buckets MAX ZOOM images of the visual/thermal acuity targets. They also use alternating w

to maximize exposure control.

Figure 6) Open test lanes with all white buckets are used to evaluate basic Maneuvering trials only, which is 

buckets are used to the typical starting point for novice pilots. Test lanes with alternating white and black 

evaluate operational readiness and system capabilities.

Conduct Tests Two Ways

Open Test Lane

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

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

5

Stands Bucket directional bucket stands, a - Each lane uses (4) omni

Platform, and a measuring taps Launch/Land

parts for each stand include: The centerline.

post center in 6x4x4 ] 1[

ends both taper deg 45 with legs in 12 x4x2 ] 4[

diameter) in 8( buckets white gallon - 2 ] 5[

top at leg per 2 – legs the affix to screws in 3 ] 10

buckets the affix to screws in 1 ] 5[

extensions leg Slotted ] 4[

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

tighten and on slide to extensions leg

stickers weatherproof diameter in 8 ] 15 [

files) sticker the download to website see (

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

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

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

A of bottom and inside targets acuity Perch ] 2[

.

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

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

) ! Equivalent Avg. Human vision at 6 m (20 Gap size (inches) Gap size (mm) 4.5 % 1.58 in 40 mm

11 % 0.63 in 16 mm

28 % 0.25 in 6.4 mm

70 % 0.10 in 2.6 mm

180 % 0.04 in 1.0 mm

440 % 0.016 in 0.41 mm

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

DATE/TIME PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

300 FT MEASURING TAPE - 100

(4) OMNI STANDS

A

D

C

1, 2, 3, 4 B

LAUNCH

DA

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A PARTIAL (1 PT) ALIGNED (5 PTS)

a enough to capture each bucket long Align with 

the showing (NO ZOOM) single alignment image 

bucket. Score 5 points for a ring inside the green 

continuous green ring or 1 point for a partial green 

ring. Similar scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

of each bucket ) single alignment image (NO ZOOM

of each MAX ZOOM) single acuity image ( AND a 

target. Score 1 point for each correct identification of 

. directions increasingly small Concentric C gap 5 the 

) Basic Maneuvering (MAN

ALIGN WITH BUCKETS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

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

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Montgomery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

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

I

CONFINED TEST LANE

GPS DENIED

d an

DARK (<1 LUX)

DUAL BUCKET 

ALIGNMENTS

AT 1 M (3 FT) 

PROXIMITY TO 

OBSTACLES

LANE OPEN TEST 

B

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

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

(6 FT) AT 2 M

PROXIMITY TO 

OBSTACLES

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

ACCURATE (5 PTS)

BLACK BUCKETS & COLOR RINGS 

EMBEDDED INTO SCENARIOS

1

TOP

1A FRONT 

BACK 1C 1B LEFT 

RIGHT 1D 

ALL “A” BUCKETS

POINT TOWARD THE 

LAUNCH LAND /

HANDLE

CENTERLINE

ONLY THE NUMBERS 

CHANGE FOR EACH 

OMNI BUCKET STAND

1A

BROKEN INNER BLACK EDGE

IS THE JUDGEMENT POINT

POST

LEGS 

FLUSH WITH TOP

SHOWN ALIGNED ALIGNED NOT SHOWN 

BUCKETS & GREEN RINGS WHITE 

STANDARD TEST LANES IN 

Select Trial Settings for Different Flight Credentials

Focus Training and Evaluate Proficiency for Credentialing

Night Ops BVLOS Daylight/LOS CREDENTIALS

Standard Lane 

(Indoor or Outdoor)

Pilot’s Eyes On 

(Available)

Pilot’s Back Turned

(Interface Only) Lights Out, Buckets Lit

Embedded Scenario (Indoor or Outdoor)

Pilot’s Eyes On 

(Available)

Pilot’s Back Turned

(Interface Only) Lights Out, Buckets Lit

ILLUMINATED BUCKETS PROVIDE 

POSITIONING AIDS LIKE STRUCTURE 

WINDOWS OR STREET LIGHTS

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

THE PILOT’S BACK TURNED TO THE LANE FORCES 

RELIANCE ON THE INTERFACE 

(VISUAL OBSERVER REQUIRED)

Select the test lane and scenarios based 1)

on the intended environment and aircraft: 

Open, Obstructed, or Indoor –

Select the test procedure and time limit 2)

based on the intended mission:

MAN (5 min. each) or PAY (10 min. each) –

Select the minimum proficiency based on 3)

average or “expert” scores in the same trials:

Example: 40%, 60%, 80% of “expert” –

Select pilot view: 4)

Line of Sight or BVLOS –

Select lighting (indoor or outdoor) for 5)

daylight or night credentials:

Lighted/Daylight or Dark –

DAYLIGHT / LOS ADDITIONAL

Line of SightE LAN FACINGInstruments Only D TURNE BACK

Interface

Only

BACK TURNED

Line of

Sight

FACING LANE • Verify your score after 

the trial using captured 

video, although scores 

may vary due to 

increased image or 

monitor resolution.

REPORT GAP DIRECTIONS RELATIVE TO THE BUCKET NUMBER (TOP)

TEST OR 

SCENARIO

Pilot with Interface

FACING AWAY

Visual Observer

FACING AIRCRAFT

Pilot Organization _____________________________________

Drone Make _____________________________________

Drone Model _____________________________________

Facility Location _____________________________________

Date (YYYY/MM/DD) ______________________

PROCTOR NAME _____________________________________

Pilot FIRST Name _____________________________________

Pilot LAST Name _____________________________________

Team #: ______

SCORABLE SCENARIOS

LEVEL 4 | OBSTRUCTED

(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

DARK

< 1 LUX

(CIRCLE ONE)

4 IN

(10 CM)

8 IN

(20 CM)

BUCKET DIAMETER

LIGHTED

300+ LUX

DIM

1-300 LUX