Scorable Obstructed Scenarios

Day and Night Trials

Page 19 

 

Figure 26) Obstructed apparatuses are set up in sets of vertical and horizonta

scenario.

Figure 27) The scenario façade was embedded with window inspection tasks o

collapsed walls. Each Dual Bucket Alignment guides the remote pilot to posit

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

HO

Page 16 11/9/21

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

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 32) A floating omni bucket task was pulled through the water by a remotely controlled rescue device

to represent floating or swimming victims. It provided a moving object for the drone to identify on all sides.

 

Figure 33) The flashflood bridge collapse included an overturned school bus and vehicles requiring a 

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.

ALIGNED DRONE LOOKING 

VERTICAL

HORIZONTAL

ALIGNMENT TASKS IN 

WINDOW/DOORS

Standard Test Methods for Small Un

ASTM International Standards Committee on 

Response Robots (E54.09) | Website: R

Structure exterior inspection tasks include looking through w

ground objects of interest. In this case, the tasks were embed

structure. The objective was to safely fly in close proximity o

to perform a window/door clearing maneuver with high/low 

 

Figure 26) Obstructed apparatuses are set up in sets of vertic

scenario.

ALIGNMENT TASKS IN 

WINDOW/DOORS

Standard Test M

ASTM International 

Response Rob

 

Figure 32) A floating omni bucket task wa

to represent floating or swimming victim

Figure 33) The flashflood bridge collapse 

Website

RobotTestMethods.nist.gov

Test Director

Adam Jacoff

Intelligent Systems Division

National Institute of Standards and Technology

U.S. Department of Commerce

Sponsor:

Systems Engineering & Standards Division

Science and Technology Directorate 

U.S. Department of Homeland Security

Email

RobotTestMethods@nist.gov

Version 2023C

Pocket Guide for Aerial Drones

Tests and Scenarios

OBSTRUCTED
Obstructed Test Lanes and Scenarios

Evaluate safety, capabilities, and proficiency

ASTM International Standards Committee for Homeland Security Applications;

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

Page 3

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).

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 

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

Version 2022A 2

Scoring Payload Functionality Trials

Payload Functionality Trials with Pilot Back Turned

2

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

.

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

(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

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. 

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

12

Obstructed Test Lane and Related Scenarios

Aerial Tests

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

resulting trial scores across different locations can help determine best-in-class drone capabilities and remote 

pilots no matter where or when the testing occurs.

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

resulting trial scores across different locations can help determine best-in-class drone capabilities and remote 

pilots no matter where or when the testing occurs.

Figure 2) Other related standards address different mission complexities such as the Obstructed Test Lane which 

evaluates drones flying in close proximity to outdoor objects to inspect detailed features from 2-3 m (6-10 ft).

These standard tests support drone researchers, manufacturers, and user organizations in different ways. 

Researchers use these standard tests to understand mission requirements, encourage innovation, and demonstrate 

break-through capabilities. Manufacturers use these standard tests to evaluate design decisions, integrate 

emerging technologies, and harden systems. Various organizations use these tests to guide purchasing, make 

deployment decisionsand focus training with measures of remote pilot proficiency for credentialingThese 

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 

POST

1

2

4

3

WALL

The Obstructed Test Lanes and related scenarios enable 

remote pilots to fly safe and repeatable flight paths to 

inspect objects from close proximity. There are 5 different 

tests that guide remote pilots through various standoff 

positions, orientations, and perches at 2-3 m (6-10 ft) from 

objects. These tests can be performed outdoors or indoors 

to control lighting, weather, and access to GPS.

PERCH

PAY 6

WALL

PAY 7

GROUND

PAY 8

ALLEY

PAY 9

POST

PAY 10

Bucket Alignments Define Flight Paths

Designated altitudes, positions, and orientations

PROCEDURES FOR ALL TESTS ARE THE SAME (10 POSITIONS = 20 BUCKET ALIGNMENTS) 

LAUNCH – FORWARD – REVERSE – FORWARD – LAND | LAUNCH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

WALL (MAN/PAY 7)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle at 45

degrees from forward of the aircraft while inspecting vertical object features

upward and downward.

GROUND (MAN/PAY 8)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle at 90

degrees from forward of the aircraft while inspecting horizontal object features

leftward and rightward.

ALLEY (MAN/PAY 9)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle in front of

the aircraft (0 degrees) and behind the aircraft (180 degrees) while inspecting

horizontal object features leftward and rightward.

POST (MAN/PAY 10)

The drone flies within 2-3 m (6-10 ft) proximity of a post and wall or obstacle

while inspecting vertical object features upward and downward. While

circumnavigating the post, the drone passes between the post and the wall or

obstacle placed 4 m (12 ft) apart.

PERCH (MAN/PAY 6)

The drone flies and lands within 2-3 m (6-10 ft) from a wall or obstacle in front

of the aircraft with ground obstacles on both sides. While perched the drone

inspects vertical and horizontal object features upward, downward, leftward

and rightward. Each landing measures the field of view of the drone while

perched including any independent pan-tilt-zoom camera. The drone may

launch and land repeatedly to score allbuckets if necessary.

WALL | 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)

6 M (20 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) 6 M (20 FT)

TOP VIEW

1

2 3

4

1

2 4

3

4 M (12 FT)

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

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

POST TEST

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

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

other obstacles.

WALL | FENCE | OBSTACLE 4 M (12 FT) 6 M (20 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

PROCEDURES FOR ALL TESTS ARE THE SAME (10 POSITIONS = 20 BUCKET ALIGN

LAUNCH – FORWARD – REVERSE – FORWARD – LAND | LAUNCH – 1 2 3 4 – 3 

WALL (MAN/PAY 7)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle at 45

degrees from forward of the aircraft while inspecting vertical object features

upward and downward.

GROUND (MAN/PAY 8)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle at 90

degrees from forward of the aircraft while inspecting horizontal object features

leftward and rightward.

ALLEY (MAN/PAY 9)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle in front of

the aircraft (0 degrees) and behind the aircraft (180 degrees) while inspecting

horizontal object features leftward and rightward.

POST (MAN/PAY 10)

The drone flies within 2-3 m (6-10 ft) proximity of a post and wall or obstacle

while inspecting vertical object features upward and downward. While

circumnavigating the post, the drone passes between the post and the wall or

obstacle placed 4 m (12 ft) apart.

PERCH (MAN/PAY 6)

The drone flies and lands within 2-3 m (6-10 ft) from a wall or obstacle in front

of the aircraft with ground obstacles on both sides. While perched the drone

inspects vertical and horizontal object features upward, downward, leftward

and rightward. Each landing measures the field of view of the drone while

perched including any independent pan-tilt-zoom camera. The drone may

launch and land repeatedly to score allbuckets if necessary.

WALL | FENCE | OBSTACLE

TOP VIEW

3 2 4

1

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1 

LOW

1 

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1

3

4

2

1 

4 M 

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

4 3

1 2

4 M 

WALL | FENCE | OBSTACLE 4 M (12 FT) 6 M (20 FT)

TOP VIEW

1

2 3

4

4 

Standard Test Methods for 

ASTM International Standards Co

Response Robots (E54.09

POST TEST

The drone flies within 2-3 m (6-10 ft) all arou

objects upward and downward. This approxi

other obstacles.

WALL | FENCE | OBSTACLE 4 M (12 FT) 6 M (20 FT)

TOP VIEW

1

2 3

4

4 M 

10 POSITI
Metrics to Track Over Time 

Measure System Capabilities and Pilot Proficiency

Completeness: Align with every bucket in the sequence 

and land accurately according to the procedure. The 

objective is scoring ALL points possible for your aircraft 

without making mistakes.

Score: For complete trials, track your scores over time. 

The average of your last five trials is an excellent measure 

of your proficiency on the aircraft and interface used. 

Efficiency (Optional): For complete trials with maximum 

scores for a particular aircraft, the elapsed time can help 

identify the most efficient systems and techniques. Time 

limited trials can be used across multiple tests to maintain 

a schedule and similarly fatigue novices and experts. 

Day and Night Operations

Evaluate using repeatable hovers and orbits

The WALL test shown with alternating 

pairs of white and black buckets to 

increase the need for exposure control.

The POST test shown at night with 

only the white buckets illuminated 

with red headlamps.

g p

A 3-4 person team completes all 5 tests in 2 hours.

Four person teams always have one person getting their 

aircraft ready to launch right after the previous lands.

Three person teams work too, but require some time 

between each rotation to prepare the next aircraft.

PILOT

• Maintain control of the aircraft.

• Call out each intention of movement before doing so.

• Call out each bucket alignment and acuity target gap.

PROCTOR

• Fill in the form header.

• Read the test procedures to the Pilot.

• Confirm, record, and attest to scoring after the trial.

VISUAL OBSERVER (VO)

• Maintain sight with the aircraft and surroundings.

• Repeat the Pilot’s intention of movement to confirm.

• Call out corrections and warnings as necessary. 

TEAM ROTATIONS

Page 26

he VO role going last in the rotation because as soon as the previous 

ady their aircraft to Pilot the next flight. The Pilot can put their aircraft 

ke a minute to review and attest to the trial score just completed.

PILOT PROCTOR VO

Visual Observer 

Pilot

Proctor

3 PERSON TEAM ROTATION

ON DECK

GET DRONE READY TO FLY

VO PILOT FACING AWAY FROM

THE TEST LANE

PROCTOR

WHITE BUCKETS

ILLUMINATED WITH 

RED HEADLAMPS

WHITE BUCKETS STANDS

ILLUMINATED WITH 

RED HEADLAMPS

ALTERNATING BLACK BUCKET

STANDS LEFT DARK

1

2

3

FLIGHT LINE

4

10FT 10FT 10FT 10FT

50FT

ALTITUDE 2(S)

START | END

ALTITUDE S

ALTITUDE 7(S)

ALTITUDE 5(S)

ALTITUDE 6(S)

7(S)

6(S)

5(S)

2(S)

• 

• 

• 

• 

• 

5 Different Orbits in Every Lan

(S) = 10ft, 20ft, 30ft, or o

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

OBSTRUCTED WALL TEST OBSTRUCTED POST TEST

45 50 65 70 70 70 75 80 80 80 81 100 100 27 36 34 45 54 41 20 21 46 44 49 52 55 0

10

20

30

40

50

60

70

80

90

100

Position Test Scores (Autels Only)

50 -- -- -- -- --

30 -- -- -- -- --

Separate Scores for ALIGNMENT and ACUITY

Track your own scores over time and/or compare to others using the same drone. 

A B C D E F G H I J K L M

EXAMPLE PASS/FAIL SCORES

SCORE

ALIGNMENT

ACUITY

g p

A 3-4 person team completes all 5 tests in 2 hours.

Four person teams always have one person getting their 

aircraft ready to launch right after the previous lands.

Three person teams work too, but require some time 

between each rotation to prepare the next aircraft.

PILOT

• Maintain control of the aircraft.

• Call out each intention of movement before doing so.

• Call out each bucket alignment and acuity target gap.

PROCTOR

• Fill in the form header.

• Read the test procedures to the Pilot.

• Confirm, record, and attest to scoring after the trial.

VISUAL OBSERVER (VO)

• Maintain sight with the aircraft and surroundings.

• Repeat the Pilot’s intention of movement to confirm.

• Call out corrections and warnings as necessary. 

TEAM ROTATIONS

Page 26

e VO role going last in the rotation because as soon as the previous 

dy their aircraft to Pilot the next flight. The Pilot can put their aircraft 

ke a minute to review and attest to the trial score just completed.

PILOT PROCTOR VO

Visual Observer 

Pilot

Proctor

3 PERSON TEAM ROTATION

ON DECK

GET DRONE READY TO FLY

VO PILOT FACING AWAY FROM

THE TEST LANE

PROCTOR

WHITE BUCKETS

ILLUMINATED WITH 

RED HEADLAMPS

WHITE BUCKETS STANDS

ILLUMINATED WITH 

RED HEADLAMPS

ALTERNATING BLACK BUCKET

STANDS LEFT DARK

1

2

3

FLIGHT LINE

4

10FT 10FT 10FT 10FT

50FT

ALTITUDE 2(S)

START | END

ALTITUDE S

ALTITUDE 7(S)

ALTITUDE 5(S)

ALTITUDE 6(S)

7(S)

6(S)

5(S)

2(S)

• 7

• 

• 5

• 

• S 

5 Different Orbits in Every Lane 

(S) = 10ft, 20ft, 30ft, or ot

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

OBSTRUCTED WALL TEST OBSTRUCTED POST TEST

45 50 65 70 70 70 75 80 80 80 81 100 100 27 36 34 45 54 41 20 21 46 44 49 52 55 0

10

20

30

40

50

60

70

80

90

100

Position Test Scores (Autels Only)

50 -- -- -- -- --

30 -- -- -- -- --

Separate Scores for ALIGNMENT and ACUITY

Track your own scores over time and/or compare to others using the same drone. 

A B C D E F G H I J K L M

EXAMPLE PASS/FAIL SCORES

SCORE

ALIGNMENT

ACUITY

Separate Scores: ALIGNMENT and ACUITY

Track and Compare Scores Using the Same Drone
Scoring Alignment Points

Capture images of alignment rings to verify

Page 3

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

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

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

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

Version 2022A 

INTERNAL TEAM ROTATION

THE PILOT’S BACK 

RELIANC

(VISUAL 

4) Select pilot view:

– Line of Sight or BVLOS

5) Select lighting (indoor or outdoor) for 

daylight or night credentials:

– Lighted/Daylight or Dark

ADDITIONAL

PR

INTER

IN FA

TRIALS 

USE I

ONLY FO

TRIALS 

DECL

CONCE

YOUR P

SCOR

TH

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

[2] Perch acuity targets inside and bottom of A

.

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

Stickers inside each bucket have a GREEN INSCRIBED RING 

to guide alignment and a visual acuity target with 

increasingly small Concentric Cs gaps to identify the 

correct (1 of 8) orientations.

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

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

40 mm 1.58 in 4.5 %

16 mm 0.63 in 11 %

6.4 mm 0.25 in 28 %

2.6 mm 0.10 in 70 %

1.0 mm 0.04 in 180 %

0.41 mm 0.016 in 440 %

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

Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications;

Operational Equipment; Robots (E54.08.01)

Nested Landolt C Vision Test Chart

#3

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

A

D

C

B 1, 2, 3, 4

LAUNCH

AD

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A ALIGNED (5 PTS)

PARTIAL (1 PT)

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) showing the 

green ring inside the bucket. Score 5 points for a 

continuous green ring or 1 point for a partial. Similar 

scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) AND a single 

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

point for each correct identification of the 5 

increasingly small Concentric C gap directions.

ALIGN WITH BUCKETS AND LAND ACCURATELYALIGN AND IDENTIFY ACUITY TARGETS

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

Safety | Capabilities | Proficiency

DOJ/DHS National Unmanned Aircraft Systems Program Evaluation, August 2

I

CONFINED TE

G

DA

D

A

A

PR

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 

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. 

• First align with each PERPENDICULAR BUCKET to 

capture a SINGLE ALIGNMENT IMAGE of the 

inscribed ring.

• Score captured images with 

- UNBROKEN RINGS (5 points)

- BROKEN RINGS (1 point)

- NO RINGS (0 points, strike through line)

• Accurate landings are not scored. 

• Verification of captured alignment images can be 

during the trial when obvious or after the trial to 

eliminate discussions during the trial. Images can 

also be stored for documentation.

BROKEN (1 PT)

CAPTURE IMAGES OF THE INSCRIBED RINGS AND LAND ACCURATELY.

Scoring Acuity Points

Identify increasingly small visual acuity targets

• Then align with each ANGLED BUCKET to IDENTIFY 

ACUITY TARGETS using camera zoom and exposure 

controls. 

• 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 evaluate flying interface 

only as if beyond visual line of sight.

Page 3

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

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

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

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

Version 2022A 

INTERNAL TEAM ROTATION

4) Select pilot view:

– Line of Sight or BVLOS

5) Select lighting (indoor or outdoor) for 

daylight or night credentials:

– Lighted/Daylight or Dark

ADDITIONAL

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

[2] Perch acuity targets inside and bottom of A

.

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

Stickers inside each bucket have a GREEN INSCRIBED RING 

to guide alignment and a visual acuity target with 

increasingly small Concentric Cs gaps to identify the 

correct (1 of 8) orientations.

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

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

40 mm 1.58 in 4.5 %

16 mm 0.63 in 11 %

6.4 mm 0.25 in 28 %

2.6 mm 0.10 in 70 %

1.0 mm 0.04 in 180 %

0.41 mm 0.016 in 440 %

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

Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications;

Operational Equipment; Robots (E54.08.01)

Nested Landolt C Vision Test Chart

#3

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

A

D

C

B 1, 2, 3, 4

LAUNCH

AD

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A ALIGNED (5 PTS)

PARTIAL (1 PT)

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) showing the 

green ring inside the bucket. Score 5 points for a 

continuous green ring or 1 point for a partial. Similar 

scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) AND a single 

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

point for each correct identification of the 5 

increasingly small Concentric C gap directions.

ALIGN WITH BUCKETS AND LAND ACCURATELYALIGN AND IDENTIFY ACUITY TARGETS

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

Safety | Capabilities | Proficiency

DOJ/DHS National Unmanned Aircraft Systems Program Evaluation, A

I

COOPEN 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) L

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. 

Unmanned Aircraft Systems Small Standard Test Methods for 

ASTM International Standards Committee for Homeland Security Applications;

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

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 

11/9/21 5 Page 

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

] [

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

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 

ings for Different Flight Credentials

d 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 

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

’

t: 

h) 

 

als:

Line of SightE LAN FACINGInstruments Only D TURNE BACK

Interface

Only

BACK TURNED

Line of

Sight

FACING LANE

REPORT GAP DIRECTIONS RELATIVE TO THE BUCKET NUMBER (TOP)

TEST OR 

SCENARIO

Pilot with Interface

FACING AWAY

Visual Observer

FACING AIRCRAFT

ALIGN WITH BUCKETS AND LAND ACURATELY ALIGN THEN CONTROL ZOOM AND EXPOSURE

10 ALIGNMENT RINGS TOTAL 50 POINTS 10 ACUITY TARGETS TOTAL 50 POINTS
Teams Rotate Through Each Role

Each Pilot flies a 5-minute trial with help from others. 

A 3-4 person team completes all 5 tests in 2 hours.

Four person teams always have one person getting their 

aircraft ready to launch right after the previous lands.

Three person teams work too, but require some time 

between each rotation to prepare the next aircraft.

PILOT

• Maintain control of the aircraft.

• Call out each intention of movement before doing so.

• Call out each bucket alignment and acuity target gap.

PROCTOR

• Fill in the form header.

• Read the test procedures to the Pilot.

• Confirm, record, and attest to scoring after the trial.

VISUAL OBSERVER (VO)

• Maintain sight with the aircraft and surroundings.

• Repeat the Pilot’s intention of movement to confirm.

• Call out corrections and warnings as necessary. 

TEAM ROTATIONS

Page 26

aks together because all three roles are essential for safe trials, so 

ware, software, and personal issues that might happen.

role going last in the rotation because as soon as the previous 

eir aircraft to Pilot the next flight. The Pilot can put their aircraft 

inute to review and attest to the trial score just completed.

PILOT PROCTOR VO

Visual Observer 

Pilot

Proctor

3 PERSON TEAM ROTATION

ON DECK

GET DRONE READY TO FLY

VO PILOT

FACING AWAY FROM

THE TEST LANE

PROCTOR

Teams Sequence Through Scenarios

Each Pilot flies a 15-minute scenario, sequencing 

through 3 objectives for 5 minutes each.

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

• This scenario mechanization enables embedded 

bucket scoring tasks to be performed similarly by all 

participating Pilots. So the results are comparable 

within the same scenario layout. Additional tactics 

can be overlayed onto these scenarios at your facility.

• Up to 3 teams concurrently fly different scenario 

objectives from safe distances and altitudes apart.

• Teams move as necessary to maintain sight lines with 

their aircraft and communications with other teams. 

The overwatch team leads communications. 

• Scenarios restart every 20 minutes with a different 

rotation of Pilot, Proctor, and VO.

ROTATION
Page 13

e wall guided by dual bucket alignments in various 

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

unch, rotate, and land to identify all the targets in order.

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

tures upward and downward. This approximates inspection 

d 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

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

• Fly near the ground and perch within 2-3 m (6-10 ft) of a 

wall or obstacle in front of the aircraft with ground 

obstacles on both sides. 

• Inspect vertical and horizontal object features upward, 

downward, leftward and rightward. 

• BUCKET #2 MUST BE ALIGNED WHILE PERCHED, but all 

others can be aligned/identified either while perched or 

hovering as if inspecting underbody objects of interest. 

SCORING

Alignment Points in Perpendicular Buckets (50 Total):

Align with each perpendicular bucket to CAPTURE A SINGLE 

IMAGE OF THE ALIGNMENT RING for scoring during or after 

the trial. 

Acuity Points in Angled Buckets (50 Total): 

Align with each angled bucket to IDENTIFY ACUITY GAPS 

through the pilot interface. Images are optional for 

documentation but use the answer key for scoring..

OBSTRUCTED | PERCH 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 3 5 1 0 ––– ––– ––– ––– –––

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

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

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

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

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

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

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

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

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

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

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

SCORES MAN 

/100

PAYLOAD (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

PAY 

/50

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

ALIGNMENT 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 

Page 13

e wall guided by dual bucket alignments in various 

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

unch, rotate, and land to identify all the targets in order.

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

tures upward and downward. This approximates inspection 

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

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

WHILE PERCHED

WHILE PERCHED

WHILE PERCHED

#2 ALIGNMENT WHILE PERCHED

START TIMER

ELASPED TIME:

(MM:SS)
Page 13

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

tures upward and downward. This approximates inspection 

d doors.

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

Page 13

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.

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

Wall (PAY 7)

Obstructed Test Lane

• Fly within 2-3 m (6-10 ft) of a wall or obstacle at 45 

degrees from forward of the aircraft.

• Inspect vertical object features upward and 

downward.

SCORING

Alignment Points in Perpendicular Buckets (50 Total):

Align with each perpendicular bucket to CAPTURE A SINGLE 

IMAGE OF THE ALIGNMENT RING for scoring during or 

after the trial. 

Acuity Points in Angled Buckets (50 Total): 

Align with each angled bucket to IDENTIFY ACUITY GAPS 

through the pilot interface. Images are optional for 

documentation but use the answer key for scoring.

OBSTRUCTED| WALL 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 3 5 1 0 ––– ––– ––– ––– –––

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

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

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

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

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

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

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

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

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

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

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

SCORES MAN 

/100

PAYLOAD (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

PAY 

/50

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

ALIGNMENT 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 

Page 13

e wall guided by dual bucket alignments in various 

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

unch, rotate, and land to identify all the targets in order.

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

tures upward and downward. This approximates inspection 

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

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

START TIMER

ELASPED TIME:

(MM:SS)
Page 13

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.

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

GROUND TEST

The drone flies within 2-3 m (6-10 ft) of the ground to align with buckets and identify features 

leftward and rightward. This approximates inspection tasks around ground objects.

ALLEY TEST

The drone flies within 2-3 m (6-10 ft) of the wall and ground along a line parallel to the wall 

while rotating in place to identify features all around. This approximates inspecting ground 

objects near walls or other obstacles. 

WALL | FENCE | OBSTACLE4 M (12 FT) 6 M (20 FT)

1

3

4

2

1 3

4

2

4 M (12 FT)

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

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)

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

Ground (PAY 8)

Obstructed Test Lane

• Fly within 2-3 m (6-10 ft) of a wall or obstacle at 90 

degrees from forward of the aircraft.

• Inspect horizontal object features leftward and 

rightward.

SCORING

Alignment Points in Perpendicular Buckets (50 Total):

Align with each perpendicular bucket to CAPTURE A SINGLE 

IMAGE OF THE ALIGNMENT RING for scoring during or after 

the trial. 

Acuity Points in Angled Buckets (50 Total): 

Align with each angled bucket to IDENTIFY ACUITY GAPS 

through the pilot interface. Images are optional for 

documentation but use the answer key for scoring.

Page 13

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

atures upward and downward. This approximates inspection 

d doors.

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

obots (E54.09) Website: RobotTestMethods.nist.gov

Page 14

ft) of the ground to align with buckets and identify features 

ximates inspection tasks around ground objects.

ft) of the wall and ground along a line parallel to the wall 

eatures all around. This approximates inspecting ground 

es. 

1 3

4

2

4 M (12 FT)

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

1 4 2 3

4 M (12 FT)

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

OBSTRUCTED | GROUND 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 3 5 1 0 ––– ––– ––– ––– –––

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

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

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

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

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

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

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

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

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

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

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

SCORES MAN 

/100

PAYLOAD (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

PAY 

/50

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

ALIGNMENT 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 

Page 13

e wall guided by dual bucket alignments in various 

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

unch, rotate, and land to identify all the targets in order.

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

tures upward and downward. This approximates inspection 

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

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

START TIMER

ELASPED TIME:

(MM:SS)
Page 14

0 ft) of the wall and ground along a line parallel to the wall 

 features all around. This approximates inspecting ground 

cles. 

1 4 2 3

4 M (12 FT)

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

Page 14

ALLEY TEST

The drone flies within 2-3 m (6-10 ft) of the wall and ground along a line parallel to the wall 

while rotating in place to identify features all around. This approximates inspecting ground 

objects near walls or other obstacles. 

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)

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

Alley (PAY 9)

Obstructed Test Lane

• Fly within 2-3 m (6-10 ft) of a wall or obstacle in front 

of the aircraft (0 degrees) and behind the aircraft (180 

degrees). 

• Inspect horizontal object features leftward and 

rightward.

SCORING

Alignment Points in Perpendicular Buckets (50 Total):

Align with each perpendicular bucket to CAPTURE A SINGLE 

IMAGE OF THE ALIGNMENT RING for scoring during or after 

the trial. 

Acuity Points in Angled Buckets (50 Total): 

Align with each angled bucket to IDENTIFY ACUITY GAPS 

through the pilot interface. Images are optional for 

documentation but use the answer key for scoring.

OBSTRUCTED | ALLEY 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 3 5 1 0 ––– ––– ––– ––– –––

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

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

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

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

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

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

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

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

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

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

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

SCORES MAN 

/100

PAYLOAD (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

PAY 

/50

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

ALIGNMENT 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 

Page 13

e wall guided by dual bucket alignments in various 

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

unch, rotate, and land to identify all the targets in order.

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

tures upward and downward. This approximates inspection 

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

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

START TIMER

ELASPED TIME:

(MM:SS)
Page 15

 ft) all around the post at different elevations to inspect 

his approximates inspecting elevated objects near walls or 

me for all Obstructed tests. Each test has dual bucket alignments 

med in a sequence that results in 10 dual bucket alignments with

uence includes some backtracking to ensure the tasks are 

ative to the obstacles involved. The sequence of positions is

then forward order. The sequence is 1 2 3 4 – 3 2 1 – 2 3 4 with 

ing the backtracking part of the sequence.

al totals up to 100 points maximum for 20 bucket alignments. 

zoom image of each bucket showing either a full alignment ring (5 

point), or no alignment ring (0 point). 

ndicular buckets are scored for alignments (up to 5 points each). 

y points (up to 5 points each). Payload Functionality trials add an 

uity targets while aligned with buckets. The level of maneuvering 

m can discern results in the total score. Each acuity target has 5 

to identify correctly. The smallest features are 1 mm (0.04 in) 

ng labels, for example. Each identifiable gap orientation is 

1

2 4

3

4 M (12 FT)

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

Post (PAY 10)

Obstructed Test Lane

• Fly within 2-3 m (6-10 ft) of the post and a wall or 

obstacle.

• Inspect vertical object features upward and downward. 

• Pass between the post and the wall 4 m (12 ft) apart.

SCORING

Alignment Points in Perpendicular Buckets (50 Total):

Align with each perpendicular bucket to CAPTURE A 

SINGLE IMAGE OF THE ALIGNMENT RING for scoring during 

or after the trial. 

Acuity Points in Angled Buckets (50 Total): 

Align with each angled bucket to IDENTIFY ACUITY GAPS 

through the pilot interface. Images are optional for 

documentation but use the answer key for scoring.

POST TEST

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

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

other obstacles.

Procedure: The procedure is the same for all Obstructed tests. Each test has dual bucket alignments 

designated 1 – 4 that at are performed in a sequence that results in 10 dual bucket alignments with

20 total bucket alignments. The sequence includes some backtracking to ensure the tasks are 

performed in various directions relative to the obstacles involved. The sequence of positions is

conducted in forward then reverse then forward order. The sequence is 1 2 3 4 – 3 2 1 – 2 3 4 with 

the red underlined numbers indicating the backtracking part of the sequence.

Maneuvering Trials: A complete trial totals up to 100 points maximum for 20 bucket alignments. 

Points are scored using a single no zoom image of each bucket showing either a full alignment ring (5 

points), a partial alignment ring (1 point), or no alignment ring (0 point). 

Payload Functionality Trials: Perpendicular buckets are scored for alignments (up to 5 points each). 

Angled buckets are scored for acuity points (up to 5 points each). Payload Functionality trials add an 

operational workload to identify acuity targets while aligned with buckets. The level of maneuvering 

plus visual/thermal detail the system can discern results in the total score. Each acuity target has 5 

increasingly small gap orientations to identify correctly. The smallest features are 1 mm (0.04 in) 

needed to read small text on shipping labels, for example. Each identifiable gap orientation is 

WALL | FENCE | OBSTACLE 4 M (12 FT) 6 M (20 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

OBSTRUCTED | POST 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 3 5 1 0 ––– ––– ––– ––– –––

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

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

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

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

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

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

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

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

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

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

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

SCORES MAN 

/100

PAYLOAD (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

PAY 

/50

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

ALIGNMENT 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 

Page 13

e wall guided by dual bucket alignments in various 

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

unch, rotate, and land to identify all the targets in order.

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

tures upward and downward. This approximates inspection 

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

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

START TIMER

ELASPED TIME:

(MM:SS)
Obstructed Vehicle Inspection Scenarios

Day and Night Trials

OTHER OBJECT

< 10 FT ALTITUDE AND RADIUS

10 FT

l Unmanned Aircraft Systems 

e on Homeland Security Applications; 

te: RobotTestMethods.nist.gov

rings

ng alone outdoors, except when others are 

hen others approach. Minimum physical distances 

station set up for the event. They should also 

r.

pavilion with physical distancing and mask wearing. 

ancing and masks. 

istancing. RIGHT) It can contain at least 14 people 

ations. All are more than 2 m (6 ft) apart.

an EZ Up tent which is 3 m (10 ft) square to provide 

 at any single EZ Up.

d Videographer. All will remain at least 2 m (6 ft) 

(10 ft)

TEST LANE or SCENARIO

T

S

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

C

D

INSPECT 

< 50 FT

ALTITUDE AND RADIUS

CH 

T

ADIUS C

D

R

OVERWATCH

INSPECT

OBJECT

RE

G

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

e 16 11/9/21

mall Unmanned Aircraft Systems 

ttee on Homeland Security Applications; 

ebsite: RobotTestMethods.nist.gov

ckets in confined search spaces. CENTER: Two 

apparatuses require horizontal alignments. This is the 

nterest.

 be bucketized similarly for quantitative scoring, 

gnments guide the drone into position to look inside 

ing triangulation between the buckets to stay safe.

d an orbit starting in front of the vehicle, then around 

 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

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 

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

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

START TIMER

ELASPED TIME:

(MM:SS)
• 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 

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

.

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

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 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)

OPEN TEST LANE

B

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

AT 2 M (6 FT) 

PROXIMITY TO 

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. 

Figure 2) The Obstructed Test Lanes and related scenarios addr

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

10 ft).

OBJECT INSPECTION

Standard Test Methods for Small Unma

ASTM International Standards Committee on Hom

Response Robots (E54.09) | Website: Robo

Scoring Payload Func

Payload Functionality Trials w

S

1) Select the test lan

on the intended e

– Open, Obstructe

2) Select the test pro

based on the inten

– MAN (5 min. eac

3) Select the minimu

average or “expert

– Example: 40%, 6

4) Select pilot view:

– Line of Sight or B

5) Select lighting (ind

daylight or night c

– Lighted/Daylight 

DAYLIGHT / LOS ADDITIONAL

Conduct Tests Two Ways

Open Test Lane

Standard Test Methods for Small Unmanned Aircraf

ASTM International Standards Committee on Homeland Security App

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

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 CO

C

B 1, 2, 3, 4

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 

Align with each b

single alignment 

acuity image of e

point for each co

Basic Maneuvering (MAN)

ALIGN WITH BUCKETS AND LAND ACCURATELY

Payload Func

ALIGN AND IDE

Standard Te

ASTM Interna

Respons

Montgomery County Po

Safety 

DOJ/DHS National Unmanned A

OPEN TEST LANE

Align with each b

inscribed ring an

C gap directions 

video or zoomed 

EXTERIOR WINDOWS EXTERIOR GROUND INTERIOR ROOMS INTERIOR STAIRS INTERIOR BUS

Operational Scenarios with Embedded Scoring 

ch with 20 buckets/targets, 100 points maximum)

F G J K x2 L M

PERCH

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)

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 

24 

Page 13

om 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 

fy features upward and downward. This approximates inspection 

ws 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

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

START TIMER

ELASPED TIME:

(MM:SS)