Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

21

POST

LEGS 

FLUSH WITH TOP

Easy Fabrication and Stowing

Open Test Lane

2 Gallon Buckets – Printed Stickers – Transportable 

PRINT TARGET STICKERS PERCH ACUITY TARGETS TRANSPORT IN GOLF BAGS

1A

2A

3A

AA

STOW LANES IN STACKS

EASY AND INEXPENSIVE TO FABRICATE

DATE/TIME

PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

(4) OMNI STANDS

1–4

TOP

FRONT 1A

LEFT 1B 1C BACK

1D RIGHT “A” BUCKET

ALWAYS POINTING 

TOWARD THE 

LAUNCH/LAND

PLATFORM

HANDLE

CENTERLINE

LAUNCH / LAND PLATFORM

DIGITAL CLOCK

DATE & TIME

WHITEBOARD INFO

PILOT & AIRCRAFT

(4) OMNI 

BUCKET STANDS

CENTERLINE 

MEASURING TAPE

Launch/Land

12in (30cm) Radius Center

Bucket Stand #1

(A,B,C,D)

Bucket Stand #2 

(E,F,G,H)

Bucket Stand #3

(I,J,K,L)

10 ft (3 m) Spacings

FLIGHT LINE

SIGHT LINE

LAUNCH

LAND

10 FT (3 M)

ALTITUDE 

20 FT (6 M)

ALTITUDE

Launch/Land

12in (30cm) Radius Center

FLIGHT LINE

SIGHT LINE

Bucket Stand #1

(A,B,C,D)

Bucket Stand #2 

(E,F,G,H)

Bucket Stand #3

(I,J,K,L)

10ft (3m) Spacings

10 FT (3 M)

ALTITUDE LAUNCH LAND

Standard Test 

Methods for 

Small Unmanned 

Aircraft Systems

Website: RobotTestMethods.nist.gov

Version: 2020F

Test Director

Adam Jacof

Intelligent Systems Division

National Institute of Standards and Technology

U.S. Dept. of Commerce

Email: RobotTestMethods@nist.gov

Website: RobotTestMethods.nist.gov

Phone: 301-975-4235

Sponsor

Science and Technology Directorate

U.S. Dept. of Homeland Security

Purpose

These test methods for small unmanned aircraft 

systems can be used to quantitatively evaluate 

various system capabilities and remote pilot 

proficiency. They are being standardized through 

the ASTM International Standards Committee on 

Homeland Security Applications; Response Robots 

(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).

These test methods are primarily intended for 

vertical takeoff and landing systems with an 

onboard camera and remote pilot display. 

Basic Proficiency Evaluation 

for Remote Pilots 

Flying safely in our national air space requires 

knowledge and skill. The FAA’s Part 107 written 

test ensures remote pilots understand air space 

restrictions and safety precautions. This brochure 

introduces a basic skills test for remote pilots to 

evaluate “positive aircraft control” at all times. 

More comprehensive tests are available online.

These standard test methods provide a 

reproducible way to train and measure remote 

pilot proficiency for professionals and recreational 

pilots. Organizations can establish their own 

minimum proficiency requirements to improve 

operations while reducing risk to ground 

personnel and manned aircraft in the area.

POSITION TEST

TRAVERSE TEST

• Hold Position and Rotate 

• Fly Straight and Level 

• Climb and Descend 

• Move and Rotate 

• Land Accurately

Right and Left Ovals Around All Three Bucket Stands

1A

ALIGNED

WHEN RING IS 

COMPLETELY 

VISIBLE

3
1

TOP

FRONT 1A

LEFT 1B 1C BACK

1D RIGHT

ALL “A” BUCKETS

POINT TOWARD THE 

LAUNCH/LAND

HANDLE

CENTERLINE

ONLY THE NUMBERS 

CHANGE FOR EACH 

OMNI BUCKET STAND

POST

LEGS 

FLUSH WITH TOP

NOT ALIGNED

1A 1A

ALIGNED

1A

ALIGNED

BROKEN

CONTINUOUS

1

2

3

FLIGHT LINE

ALTITUDE 10ft(3m)

START | END

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

10ft(3m)

FLIGHT LINE

z

z

z

ALTITUDE 10ft (3m)

START | END

3

2

1 10ft(3m)

ALTITUDE 20ft (6m)

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

AQUATIC

• Hold Position and Rotate

• Fly Straight and Level

• Climb and Descend

• Move and Rotate

• Land Accurately

Summary of Tests

The Position and Traverse tests are performed 

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

with the pilot’s back turned to represent flying beyond 

visual line of sight with an assisting visual observer. 

The aircraft flies the designated flight paths to align 

with one or more white buckets. Each alignment 

requires a single image of the inscribed green ring 

inside the bottom of the buckets. Perform all 40 

alignments and accurate landings within the 

designated time limit. Visual acuity targets evaluate 

camera pointing and zooming capabilities along with 

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

resulting in an end-of-trial include extreme deviations 

from the intended flight path or contact with the 

apparatus, ground, or safety enclosure.

Test Lane Fabrication

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

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

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

(QTY 03) 10x10x15cm (4x4x6in) posts 

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

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

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

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

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

Download and print targets and lettering from the online 

USAGE GUIDE or at RobotTestMethods.nist.gov.

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

rings inside buckets with written letters and numbers. 

TRAVERSE (MANEUVERING 2): Fly sideways leftward and rightward 

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

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

path long enough to CAPTURE ONE IMAGE OF EACH BUCKET showing 

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

leg in the 12in radius circle.

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

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

altitude. Simultaneously align with two buckets in each position long 

enough to CAPTURE ONE IMAGE OF EACH BUCKET showing the 

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

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

CIRCLE ALIGNED

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

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

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

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

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

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

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

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

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

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

CIRCLE ALIGNED

11 HOVER OVER THE LAUNCH PLATFORM TO ALIGN WITH 1A

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

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

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

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

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

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

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

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

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

CIRCLE ALIGNED

21 HOVER OVER THE LAUNCH PLATFORM TO ALIGN WITH 1A

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

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

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

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

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

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

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

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

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

 : : 

 :

BASIC PROFICIENCY FORM (10 MINUTE TIME LIMIT)

 Pilot: 

 Org: 

 Email: 

POSITION TEST – FLYING ALONG CENTERLINE

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

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

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

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

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

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

 Make: Model: 

TRAVERSE TEST – FLYING LEFTWARD 

 TRAVERSE TEST – FLYING RIGHTWARD