Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

VERSION 2023A

• All sequences have 10 positions with 20 buckets to score: 1 2 3 4 – 3 2 1 – 2 3 4 (forward–reverse–forward)

• 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 calling out the 5 increasingly small VISUAL ACUITY TARGET GAPS (1 pt each).

• Start timer at launch and end after the last task is completed. Trial time limits are typically 5 minutes each (25

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

• Extreme deviations from the intended flight path, or contact with any object, ends the trial to ensure safety.

Page 73

ed Scenarios

est lanes or as embedded scoring tasks in

plete 20 bucket alignments and identify

essful when the drone can maintain the

tely inscribed ring at the bottom of the

the ANGLED BUCKETS provide a modest

ure visual and thermal acuity. Identify as

all alignments and identifications to their

d after the trial to analyze performance,

0 BUCKET ALIGNMENTS) 

CH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

LL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1 1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

ALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

1

3

4

2

1 3

4

2

4 M (12 FT)

ALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

1 4 2 3

4 3

1 2

4 M (12 FT)

WALL | FENCE | OBSTACLE 4 M (12 FT) 

TOP VIEW

1

2 3

4

1

2 4

3

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

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

T TEST

drone flies within 2-3 m (6-10 ft) all around the post at different elevations to inspect 

cts upward and downward. This approximates inspecting elevated objects near walls or 

er obstacles.

ALL | FENCE | OBSTACLE 4 M (12 FT) 

TOP VIEW

1

2 3

4

1

2 4

3

4 M (12 FT)

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

ed Scenarios

est lanes or as embedded scoring tasks in

plete 20 bucket alignments and identify

essful when the drone can maintain the

tely inscribed ring at the bottom of the

the ANGLED BUCKETS provide a modest

ure visual and thermal acuity. Identify as

all alignments and identifications to their

d after the trial to analyze performance,

0 BUCKET ALIGNMENTS) 

CH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

LL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1 1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

ALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

1

3

4

2

1 3

4

2

4 M (12 FT)

ALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

1 4 2 3

4 3

1 2

4 M (12 FT)

WALL | FENCE | OBSTACLE 4 M (12 FT) 

TOP VIEW

1

2 3

4

1

2 4

3

ed Scenarios

est lanes or as embedded scoring tasks in

mplete 20 bucket alignments and identify

essful when the drone can maintain the

tely inscribed ring at the bottom of the

the ANGLED BUCKETS provide a modest

ure visual and thermal acuity. Identify as

all alignments and identifications to their

d after the trial to analyze performance,

20 BUCKET ALIGNMENTS) 

CH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

LL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1 1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

ALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

1

3

4

2

1 3

4

2

4 M (12 FT)

ALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

1 4 2 3

4 3

1 2

4 M (12 FT)

WALL | FENCE | OBSTACLE 4 M (12 FT) 

TOP VIEW

1

2 3

4

1

2 4

3

• Land or hover just above the ground within proximity to a wall or obstacle with 

additional ground obstacles on both sides. Launch and land repeatedly if necessary to 

score all buckets in the sequence of perch tasks. 

• Inspect vertical and horizontal object features all around the aircraft.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

PERCH

PAY 6

WALL

PAY 7

GROUND

PAY 8

ALLEY

PAY 9

POST

PAY 10

ed Scenarios

est lanes or as embedded scoring tasks in

mplete 20 bucket alignments and identify

essful when the drone can maintain the

tely inscribed ring at the bottom of the

the ANGLED BUCKETS provide a modest

ure visual and thermal acuity. Identify as

all alignments and identifications to their

d after the trial to analyze performance,

20 BUCKET ALIGNMENTS) 

CH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

ALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1 1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

1

3

4

2

1 3

4

2

4 M (12 FT)

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1 4 2 3

4 3

1 2

4 M (12 FT)

WALL | FENCE | OBSTACLE 4 M (12 FT) 

(

)

TOP VIEW

1

2 3

4

1

2 4

3

4 M (12 FT)

• Fly within proximity to a wall or obstacle at 45 degrees from forward of the aircraft.

• Inspect vertical object features upward and downward.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

• Fly within proximity to a wall or obstacles at 90 degrees from forward of the aircraft.

• Inspect horizontal object features leftward and rightward.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

• Fly within proximity to a post and wall or obstacle and pass between the post and the 

wall.

• Inspect vertical object features upward and downward all around the post.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

• Fly within proximity to a wall or obstacle in front of the aircraft (0 degrees) and 

behind the aircraft (180 degrees).

• Inspect horizontal object features leftward and rightward.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

LEVEL 4 | OBSTRUCTED

PAYLOAD FUNCTIONALITY

Perform 5 different flight paths to triangulate 

around the dual bucket rails. Each flight path 

includes alignments with perpendicular 

buckets then angled buckets using zoom and 

exposure control to identify recessed targets. 
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

LEVEL 4 | OBSTRUCTED Pilot Organization _____________________________________

Drone Make _____________________________________

Drone Model _____________________________________

Facility Location _____________________________________

Date (YYYY/MM/DD) ______________________

PROCTOR NAME _____________________________________

Pilot FIRST Name _____________________________________

Pilot LAST Name _____________________________________

Team #: ______

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). 

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

21 IMAGES TO CAPTURE

• 1 PRE-LAUNCH

• 20 ALIGNMENTS

21 IMAGES TO CAPTURE

• 1 PRE-LAUNCH

• 20 ALIGNMENTS

21 IMAGES TO CAPTURE

• 1 PRE-LAUNCH

• 20 ALIGNMENTS

21 IMAGES TO CAPTURE

• 1 PRE-LAUNCH

• 20 ALIGNMENTS

• WHILE PERCHED 

21 IMAGES TO CAPTURE

• 1 PRE-LAUNCH

• 20 ALIGNMENTS

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 BUCKE

POSITIONING AIDS LIK

WINDOWS OR STRE

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

Maneuvering trial scores are based on bucket alignment images showing the 

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

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

e 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

g 

n hanger bolts and wing nuts for the

sions to slide on and tighten

eter weatherproof stickers

site to download the sticker files)

umbers 1-1-1-1 inside the top bucket

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

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

acuity targets inside and bottom of A

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

 bucket have a GREEN INSCRIBED RING 

and a visual acuity target with 

oncentric Cs gaps to identify the 

ntations.

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 

ucket long enough to capture a 

mage (NO ZOOM) showing the 

he bucket. Score 5 points for a 

 or 1 point for a partial. Similar 

or 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.

ic Maneuvering (MAN)

ETS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

OTAL 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

NE CENTERLINE

ALIGN

ON-STOP

NON-STOP

z

S

5(S)

CCW

4

5(S)

tainable speed directly over 

sh a stable hover over an 

onnaissance tasks. 

out starting over the 

 designated buckets and 

e lane.

 each bucket and the 

nments after the trial. 

luded in this test. 

nce of 80(S).

AN): Complete 5 laps with 20 

p to 100 alignment points. 

PAY): Same as Basic 

entify as many acuity target 

o 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

BUCKET 

SEQUENCE

1 5 1

1A TR B TR L BR

2 5 1

2A L BR T TL R

3 5 1

3A BR T TL R BL

4 5 1

4A T BL B TR L

3 5 1

3A BR T TL R BL

2 5 1

2A L BR T TL R

1 5 1

1A TR B TR L BR

2 5 1

2A L BR T TL R

3 5 1

3A BR T TL R BL

4 5 1

4A T BL B TR L

ELAPSED TIME ( MM : SS )

ACUITY 

CIRCLE CORRECT GAPS 

(1 POINT EACH) 

ALIGNMENT

IMAGE 

POINTS 

/50 /50 

SCORE SCORE

BUCKET 

SEQUENCE

1 5 1

1A TR B TR L BR

2 5 1

2A L BR T TL R

3 5 1

3A BR T TL R BL

4 5 1

4A T BL B TR L

3 5 1

3A BR T TL R BL

2 5 1

2A L BR T TL R

1 5 1

1A TR B TR L BR

2 5 1

2A L BR T TL R

3 5 1

3A BR T TL R BL

4 5 1

4A T BL B TR L

ELAPSED TIME ( MM : SS )

ACUITY 

CIRCLE CORRECT GAPS 

(1 POINT EACH) 

ALIGNMENT

IMAGE 

POINTS 

/50 /50 

SCORE SCORE

BUCKET 

SEQUENCE

1 5 1

1A TR B TR L BR

2 5 1

2A L BR T TL R

3 5 1

3A BR T TL R BL

4 5 1

4A T BL B TR L

3 5 1

3A BR T TL R BL

2 5 1

2A L BR T TL R

1 5 1

1A TR B TR L BR

2 5 1

2A L BR T TL R

3 5 1

3A BR T TL R BL

4 5 1

4A T BL B TR L

ELAPSED TIME ( MM : SS )

ACUITY 

CIRCLE CORRECT GAPS 

(1 POINT EACH) 

ALIGNMENT

IMAGE 

POINTS 

/50 /50 

SCORE SCORE

BUCKET 

SEQUENCE

1 5 1

1A TR B TR L BR

2 5 1

2A L BR T TL R

3 5 1

3A BR T TL R BL

4 5 1

4A T BL B TR L

3 5 1

3A BR T TL R BL

2 5 1

2A L BR T TL R

1 5 1

1A TR B TR L BR

2 5 1

2A L BR T TL R

3 5 1

3A BR T TL R BL

4 5 1

4A T BL B TR L

ELAPSED TIME ( MM : SS )

ACUITY 

CIRCLE CORRECT GAPS 

(1 POINT EACH) 

ALIGNMENT

IMAGE 

POINTS 

/50 /50 

SCORE SCORE

BUCKET 

SEQUENCE

1 5 1

1A TR B TR L BR

2 5 1

2A L BR T TL R

3 5 1

3A BR T TL R BL

4 5 1

4A T BL B TR L

3 5 1

3A BR T TL R BL

2 5 1

2A L BR T TL R

1 5 1

1A TR B TR L BR

2 5 1

2A L BR T TL R

3 5 1

3A BR T TL R BL

4 5 1

4A T BL B TR L

ELAPSED TIME ( MM : SS )

ACUITY 

CIRCLE CORRECT GAPS 

(1 POINT EACH) 

ALIGNMENT

IMAGE 

POINTS 

/50 /50 

SCORE SCORE

PAYLOAD FUNCTIONALITY

ALIGNMENT ACUITY 

ALIGN 

BUCKET

IMAGE 

POINTS

CORRECT GAPS 

(1 POINT EACH)

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

3A 5 1 BR T TL R BL

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

2 5 1 BL T BR R TL

3A 5 1 BR T TL R BL

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

5 1 TR B TL L BR

1C 5 1 BR R TL L BR

L 5 1 B TR L BL T

1A 5 1 TR B TR L BR

P1 5 1 BL R TL L BL

P2 5 1 L BR T TL B

/100 /100

TOTAL SCORE

ELAPSED TIME ( MM : SS )

ALIGNMENT ACUITY 

ALIGN 

BUCKET

IMAGE 

POINTS

CORRECT GAPS 

(1 POINT EACH)

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

3A 5 1 BR T TL R BL

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

2 5 1 BL T BR R TL

3A 5 1 BR T TL R BL

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

5 1 TR B TL L BR

1C 5 1 BR R TL L BR

L 5 1 B TR L BL T

1A 5 1 TR B TR L BR

P1 5 1 BL R TL L BL

P2 5 1 L BR T TL B

/100 /100

TOTAL SCORE

ELAPSED TIME ( MM : SS )

ALIGNMENT ACUITY 

ALIGN 

BUCKET

IMAGE 

POINTS

CORRECT GAPS 

(1 POINT EACH)

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

3A 5 1 BR T TL R BL

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

2 5 1 BL T BR R TL

3A 5 1 BR T TL R BL

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

5 1 TR B TL L BR

1C 5 1 BR R TL L BR

L 5 1 B TR L BL T

1A 5 1 TR B TR L BR

P1 5 1 BL R TL L BL

P2 5 1 L BR T TL B

/100 /100

TOTAL SCORE

ELAPSED TIME ( MM : SS )

ALIGNMENT ACUITY 

ALIGN 

BUCKET

IMAGE 

POINTS

CORRECT GAPS 

(1 POINT EACH)

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

3A 5 1 BR T TL R BL

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

2 5 1 BL T BR R TL

3A 5 1 BR T TL R BL

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

5 1 TR B TL L BR

1C 5 1 BR R TL L BR

L 5 1 B TR L BL T

1A 5 1 TR B TR L BR

P1 5 1 BL R TL L BL

P2 5 1 L BR T TL B

/100 /100

TOTAL SCORE

ELAPSED TIME ( MM : SS )

ALIGNMENT ACUITY 

ALIGN 

BUCKET

IMAGE 

POINTS

CORRECT GAPS 

(1 POINT EACH)

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

1 5 1 T BL R BR L

3A 5 1 BR T TL R BL

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

2 5 1 BL T BR R TL

3A 5 1 BR T TL R BL

1 5 1 T BL R BR L

2A 5 1 L BR T TL R

5 1 TR B TL L BR

1C 5 1 BR R TL L BR

L 5 1 B TR L BL T

1A 5 1 TR B TR L BR

P1 5 1 BL R TL L BL

P2 5 1 L BR T TL B

/100 /100

TOTAL SCORE

ELAPSED TIME ( MM : SS )

PASS FAIL CIRCLE

ONE PASS FAIL CIRCLEONE PASS FAIL CIRCLEONE PASS FAIL CIRCLEONE PASS FAIL CIRCLEONE 

WHILE PERCHED

WHILE PERCHED

WHILE PERCHED

(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