Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

VERSION 2023A

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

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

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

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

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

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

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

Perform the designated flight paths to 

triangulate around dual bucket rails in various 

orientations. Align with perpendicular buckets 

then angled buckets. Use zoom and exposure 

control to identify targets inside the buckets. 

 

3

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

• Fabricated room-to-room search scenario with inspect 

tasks that can be replicated to track and compare scores.

• Self-standing plywood corner walls define 1.2m (4 ft) 

switchback hallways with a blackout tarp ceiling over top 

at 2.4m (8ft). Fits inside a 6m (20ft) shipping container.

• Square access ”windows” measuring 1m (3ft) square 

provide entry/exit and interior high/low pass throughs.

Confined Room-to-Room Labyrinth

Search tasks with 1 m (3ft) minimum clearances 

USE SETS OF 5 “INLINE” DUAL BUCKET RAILS 

HORIZONTALS FOR LEFTWARD/RIGHTWARD INSPECTIONS 

VERTICALS FOR UPWARD/DOWNWARD INSPECTIONS 

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

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

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Version: 2020B12 Page 73

Obstructed Test Lanes and Related Scenarios

CHECKRIDE SCORESHEET

Version: 2020B2

The drone performs a series of maneuvers to align with Dual Bucket Rails in the test lanes or as embedded scoring tasks in

the related scenarios. Each numbered bucket pair is performed in order to complete 20 bucket alignments and identify

recessed targets inside. Alignment with the PERPENDICULAR BUCKETS is successful when the drone can maintain the

designated position, orientation, and altitude long enough to verify a completely inscribed ring at the bottom of the

bucket (5 points), or a partially inscribed ring (1 point). The acuity targets inside the ANGLED BUCKETS provide a modest

work load to perform camera pointing, zooming, and exposure control to measure visual and thermal acuity. Identify as

many Concentric C gap directions as possible (1 point each). The pilot declares all alignments and identifications to their

Proctor for scoring live trials. Video of the trial or captured images can be used after the trial to analyze performance,

however scores may differ due to increased image resolution.

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.

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

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

Standard Test Methods for Small Unmanned Aircraft 

ASTM International Standards Committee for Homeland Security Applica

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

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Version: 2020B12 

Obstructed Test Lanes and Related Scenari

CHECKRIDE SCORESHEET

Version: 2020B2

The drone performs a series of maneuvers to align with Dual Bucket Rails in the test lanes or as embe

the related scenarios. Each numbered bucket pair is performed in order to complete 20 bucket ali

recessed targets inside. Alignment with the PERPENDICULAR BUCKETS is successful when the dro

designated position, orientation, and altitude long enough to verify a completely inscribed ring a

bucket (5 points), or a partially inscribed ring (1 point). The acuity targets inside the ANGLED BUCKE

work load to perform camera pointing, zooming, and exposure control to measure visual and therm

many Concentric C gap directions as possible (1 point each). The pilot declares all alignments and id

Proctor for scoring live trials. Video of the trial or captured images can be used after the trial to a

however scores may differ due to increased image resolution.

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

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 1

2

LOWER B

1 M (3 

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1

3

4

2

1 

4 M (12 FT)

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

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

4 M (12 

Standard Test Methods for Sm

ASTM International Standards Commit

Response Robots (E54.09) Web

POST TEST

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

objects upward and downward. This approximat

other obstacles.

Procedure: The procedure is the same for all Obst

designated 1 – 4 that at are performed in a sequen

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

TOP VIEW

1

2 3

4

1

4 M (12 FT

10 POSITIONS (

PERCH POSITION

2 M (6 FT)

ELEVATION

1 M (3 FT)

ELEVATION

UPWARD 

LEFT/RIGHT

DOWNWARD 

LEFT/RIGHT

HIGH/LOW 

ACCESS HOLES

1 m (3 ft)

SQUARE

1 M (3 FT)

ELEVATION

0 M (0 FT)

1 M (3 FT)

PERCH TEST

2 M (6 FT)

1 M (3 FT)

WALL TEST GROUND, ALLEY, & POST TESTS

Confined Test Lane and Related Operationa

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Confined Scenario: Structure Interior Rooms 

Safety | Capabilities | Proficiency

OPEN OBSTRUCTED CONFINED

TOP INDOOR ALTITUDE

2 M (6 FT)

PE

0 M 

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

SHOOT HOUSE SCENARIO FABRICATED ROOM TO ROOM SEARCH SCENARIO

0 M (0 FT)

1 M (3 FT)

PERCH TEST

2 M (6 FT)

1 M (3 FT)

WALL TEST 

Confined Test Lane and Re

Standard Test Methods for S

ASTM International Standards Comm

Response Robots (E54.09) | W

Confined Scenario: Struct

Safety | Capabi

OPEN OBST

TOP INDOOR ALTITUDE

2 M (6 FT)

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

SHOOT HOUSE SCENARIO FABRICATED ROOM TO ROO

0 M (0 FT)

1 M (3 FT)

PERCH TEST

Confined 

Confin

SHOOT HOUSE SCENARIO 

3 1

2

4

ALLEY & POST TESTS

POST TEST

3D

FLIGHT 

PATH

LOW

HIGH

HIGH

20 

20 

Standard Test Methods for S

ASTM International Standards Com

Response Robots (E54.09) | 

Set Your Minimum T

Focus Training and Evaluate 

• Organizations can set their own threshold for pass/fa

and/or efficiency. Complete trials are assumed.

• Measure everybody repeatedly over time and graph t

weaknesses. Then set minimum thresholds relative to 

organization’s thresholds as a central credentialing re

• At deployment time, each organization needs to cons

and mission complexity (night ops, BVLOS, etc.) to se

Example proficiency data shown fro

Confined Vehicle Inspection Scenarios

Day and Night Trials

USE SETS OF 5 “INLINE” DUAL BUCKET RAILS 

DISTRIBUTED THROUGHOUT THE SCENARIO

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

DOJ ATF Credentialing

Use Case Examples

Obstructed Scenario

Bus Exterior

Confined Scenario

Bus Interior

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

21

Confined Test Lane and Related Scenarios Aerial Tests

Page 25 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

Confined Scenario: Collapsed Structure Search and Inspection

One of the confined scenarios at this event were semi-collapsed structures representing environments not 

safe for responders to search given the potential for further collapse due to aftershock or structural failures. 

The inspection tasks were placed around crushed vehicles within a collapsed structure. They were also

distributed across individual rooms in a search pattern to ensure each room was inspected for victims and

other objects of interest. 

Figure 36) The collapsed structure scenario at the Guardian Centers supported a wide variety of embedded 

test methods inside the structure and around objects of interest in semi-collapsed areas.

Figure 37) LEFT: Confined test apparatuses embedded into the semi-collapsed parking garage around 

vehicles that needed to be searched for survivors within a very complex three-dimensional environment. 

We placed 5 apparatuses around the vehicles to designate 10 positions and orientations to inspect. The 

white and black bucket pairs total up to 100 points for a complete trial. RIGHT: Confined test apparatuses 

embedded in a room-to-room search within the collapsed structure. These measured the completeness of 

the room-to-room search and quantify the detailed inspections of key features within the rooms. This 

scenario also totaled 100 points for a complete trial.

DRONE

SMALL

DUAL BUCKET

APPARATUS

CRUSHED VEHICLE SEARCH ROOM TO ROOM SEARCH

SMALL

DUAL BUCKET

APPARATUS

DRONE

IDENTIFY DETAILS ON

OBJECTS OF INTEREST

SEARCH AND INSPECT OBJECTS 

UNDER VEHICLES

INSIDE VEHICLES 

OR 

ROOM-TO-ROOM

CONFINED

ACCESS

DISASTER RESPONSE

SUCCESSFULLY ALIGNED

DRONE VIEW

LEVEL 5 | CONFINED

SCORABLE SCENARIOS
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

VERSION 2023A

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Version: 2020B12 Page 74

PILOT VIEW

DARK

< 1

LUX

LIGHTING

DAYLIGHT 1000+

LUX

LIGHTED 300+

LUX

GUSTS

_______

MPH

AVERAGE

______

MPH

WIND

(CIRCLE ONE) (CIRCLE ONE)

TIME LIMIT

(CIRCLE ONE OR FILL IN)

5

MIN

10

MIN

___

MIN

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

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

BUCKET SIZE

1 QUART

10 cm (4 in)

(CIRCLE ONE)

INTERFACE

ONLY

BACK TO LANE

MANDATORY V.O.

LINE OF

SIGHT

FACING LANE 

OPTIONAL V.O.

POINTS

POINT

POINT

Edits to the Forms – Partial Credit for Pa

Open Test Lane

5

1

PARTIAL

PARTIAL

ALIGNED

POINTS

POINTS

POINTS

1

1A

1A

BROKEN

BROKEN

5

1

1

ALIGNED

Version: 2020B2

rd Test Methods for Small Unmanned Aircraft Systems

nternational Standards Committee on Homeland Security Applications; 

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

10

erformance: Close Proximity Inspection

y | Capabilities | Proficiency

STRUCTURE INSPECTION STRUCTURE INSPECTION

DUAL BUCKET ALIGNMENTS GUIDE 

PILOTS INTO SAFE POSITIONS 

WITHIN PROXIMITY TO OBJECTS

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

36

ery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

nal Unmanned Aircraft Systems Program Evaluation, August 2020

I

CONFINED TEST LANE

GPS DENIED

and

DARK (<1 LUX)

DUAL BUCKET 

ALIGNMENTS

AT 1 M (3 FT) 

PROXIMITY TO 

OBSTACLES

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

AT 2 M (6 FT) 

PROXIMITY TO 

OBSTACLES

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

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

CHECKRIDE SCORESHEET

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

v2022B

Key: 

2020B

OBSTRUCTED TEST LANE SCENARIOS

6 Perch 7 Wall 8 Ground 9 Alley 10 Post

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

TOTAL

Elapsed 

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

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


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SWVSWSWV SWVSWSWV SWVSWSWV SWVSWSWV SWVSWSWV SWVSWSWV

2 GALLON

20 cm (8 in)

Pilot Code : _______ Proctor Code: : ______

Accessories: ___________________________

Drone Make: ___________________________

Drone Model: ___________________________

Facility : ___________________________

YYYY-MM-DD : ___________________________

Pilot Name: ___________________________

TIME:

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

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

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

40 mm 1.58 in 4.5 %

16 mm 0.63 in 11 %

6.4 mm 0.25 in 28 %

2.6 mm 0.10 in 70 %

1.0 mm 0.04 in 180 %

0.41 mm 0.016 in 440 %

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

Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications;

Operational Equipment; Robots (E54.08.01)

Nested Landolt C Vision Test Chart

#3

ALTITUDE

SPACING

Page 4 11/9/21

rch

with delivery of personal floatation devices

pse with school bus and vehicle rescue

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

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

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

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

the national airspace.

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

nctionality.

Standard Test Methods for Response Robots 

M International Standards Committee on Homeland Security Applications; 

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

48

st Lanes for Various Sizes of Aircraft

Project Overview

YSTEMS

DURES

VERING

RE

1A

SCALABLE TEST LANES (ALTITUDE = SPACING) ALTITUDE

SPACING

OMNI BUCKETS

Page 4 11/9/21

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

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

• Wide area search of a plane crash site

• Vehicle identifications

• Hazardous tanker truck accident and fire

• Suspicious vehicle takedown

• Bus hostage situation

• Collapsed structure search

• Subway terrorist attack

• Flooded house rescue with delivery of personal floatation devices

• Flash flood bridge collapse with school bus and vehicle rescue

OPEN TEST LANES

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

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

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

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

practice safely without flying in the national airspace.

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

Maneuvering and/or Payload Functionality.

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

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

48

Scalable Test Lanes for Various Sizes of Aircraft Project Overview

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

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

3

Introduction

Remotely operated aerial systems enable emergency 

responders to perform extremely hazardous tasks from 

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

Standards and Technology is leading an international effort 

to develop standard test methods to help manufacturers, 

procurement professionals, and users objectively evaluate 

system capabilities and remote pilot proficiency to align 

with mission requirements. Thisimproves the safety and 

effectiveness of emergency responders as they save lives 

and protect property in our communities

The first step toward credentialing remote pilots is to get 

everybody onto the same measuring stick. That’s where 

standard test methods can play a key role. These test 

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

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

country and internationally to focus training with 

quantitative measures of remote pilot proficiency. They are 

low cost and easy to replicate so everyone can measure 

their own progress over time and compare their proficiency 

to regional or national averages on similar 

systems. Concurrent test lanes can be set up to enable 

multiple systems and pilots to train or evaluate 

simultaneously. 

They are being standardized through the ASTM 

International Standards Committee on Homeland Security 

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

referenced as Job Performance Requirements in 

the National Fire Protection Association Standard for Small 

Unmanned Aircraft Systems Used For Public Safety 

Operations (NFPA 2400) and the ASTM Standard Guide for 

Training for Remote Pilot in Command of Unmanned 

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

These suites of standard test methods provide common 

measures of capabilities with quantitative results. They can 

be conducted individually, in sequences, or embedded into 

operational training scenarios as repeatable and 

reproducible tasks with scores to augment qualitative 

assessments. Organizations using these tests set their own 

thresholds of acceptable system and pilot performance to 

align with their airspace, environment, and mission 

complexities. But those decisions are easier to make and 

trust when they’re based on quantitative performance data 

captured within standard test methods.

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

Safety | Capabilities | Proficiency

INSIDE EACH BUCKET

EVALUATE SENSORS

SMALL SYSTEMS LARGE SYSTEMS

INTERFACES PROCEDURES

SENSORS MANEUVERING

MEASURE & COMPARE

1A

SCALABLE TEST LANES (ALTITUDE = SPACING) ALTITUDE

SPACING

OMNI BUCKETS

URES

ERING

RE SCALABLE TEST LANES (ALTITUDE = SPACING)

Page 4 11/9/21

ne crash site

ccident and fire

wn

h

th delivery of personal floatation devices

e with school bus and vehicle rescue

different flight paths to identify objects from safe altitudes in open 

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

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

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

e national airspace.

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

ctionality.

Standard Test Methods for Response Robots 

 International Standards Committee on Homeland Security Applications; 

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

48

t Lanes for Various Sizes of Aircraft

Project Overview

3

Y 1-5)

STEMS

URES

ERING

E

1A

SCALABLE TEST LANES (ALTITUDE = SPACING) ALTITUDE

SPACING

OMNI BUCKETS

RONES

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

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

OBSTRUCTED | SEARCH BUCKETS MANEUVERING (MAN) 

NUMBER CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

SCORES MAN 

/100

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

IDENTIFIED DURING THE TRIAL 

 STOP TIMER (CAPTURE CLOCK IMAGE) : : PAY 

/50

ALIGNMENT PAYLOAD (PAY) ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

6

R1

R2

R3 

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

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

THE PILOT DURING THE TRIAL 

t Methods for Small Unmanned Aircraft Systems

national Standards Committee for Homeland Security Applications;

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

Page 13

m the wall guided by dual bucket alignments in various 

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

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

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

y features upward and downward. This approximates inspection 

s and doors.

1

3 4

2

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

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

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

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

OBSTRUCTED | VEHICLE BUCKETS MANEUVERING (MAN) 

NUMBER CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

SCORES MAN 

/100

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

IDENTIFIED DURING THE TRIAL 

 STOP TIMER (CAPTURE CLOCK IMAGE) : : PAY 

/50

ALIGNMENT PAYLOAD (PAY) ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

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

THE PILOT DURING THE TRIAL 

4 

st Methods for Small Unmanned Aircraft Systems

national Standards Committee for Homeland Security Applications;

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

Page 13

m the wall guided by dual bucket alignments in various 

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

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

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

y features upward and downward. This approximates inspection 

s and doors.

1

3 4

2

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

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

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

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

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

Page 13

PERCH TEST

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

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

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

WALL TEST

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

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

tasks inside elevated windows and doors.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

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

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

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

Perch (PAY 6)

Obstructed Test Lane

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

aircraft with ground obstacles on both sides. 

• While perched, inspect vertical and horizontal object 

features upward, downward, leftward and rightward. 

• Launch and land repeatedly if necessary to score all 

buckets in the sequence.

• Measure the field of view of the drone while perched 

with independent pan-tilt-zoom cameras. 

Payload Functionality Trials (PAY): 

• Align with the PERPENDICULAR BUCKETS first and 

capture an image of the inscribed rings that can be used 

to score up to 50 alignment points after the trial. 

• Align with the ANGLED BUCKETS second to identify as 

many acuity target gaps as possible to score up to 50 

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

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

SCORED ONLY WHILE LANDED

10 Positions = 20 Buckets = 100 Total Points

LAUNCH FORWARD REVERSE FORWARD LAND

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

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

STOP TIMER.

RECORD SCORES AND ELAPSED TIME.

ELAPSED TIME ( MM : SS) TOTAL SCORE

STOP TIMER.

RECORD SCORES AND ELAPSED TIME.

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

WHILE PERCHED WHILE PERCHED

Pilot Organization _____________________________________

Drone Make _____________________________________

Drone Model _____________________________________

Facility Location _____________________________________

Date (YYYY/MM/DD) ______________________

PROCTOR NAME _____________________________________

Pilot FIRST Name _____________________________________

Pilot LAST Name _____________________________________

Team #: ______

(FILL IN) (CIRCLE ONE or FILL IN)

5

MIN

10

MIN

__

MIN

PILOT VIEW TIME LIMIT

LINE OF

SIGHT

INTERFACE

ONLY

(CIRCLE ONE)

FACINE LANE

OPTIONAL V.O.

BACK TO LANE

MANDATORY V.O.

WIND

AVERAGE

_______

GUSTS

_______

MPH MPH

(CIRCLE ONE)

VISIBILITY

DARK

< 1 LUX

(CIRCLE ONE)

2 IN

(5 CM)

4 IN

(10 CM)

BUCKET DIAMETER

LIGHTED

300+ LUX

DIM

1-300 LUX

LEVEL 5 | CONFINED

SCORABLE SCENARIOS

Page 3

10 ft).

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

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

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

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

Version 2022A 2

Payload Functionality Trials with Pilot Back Turned

2

INTERNAL TEAM ROTATION

ILLUMINATED BUCK

POSITIONING AIDS LI

WINDOWS OR STR

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

THE PILOT’S BACK TURNED TO THE LANE FORCES 

RELIANCE ON THE INTERFACE 

(VISUAL OBSERVER REQUIRED)

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

3) Select the minimum proficiency based on 

average or “expert” scores in the same trials:

– Example: 40%, 60%, 80% of “expert”

4) Select pilot view:

– Line of Sight or BVLOS

5) Select lighting (indoor or outdoor) for 

daylight or night credentials:

– Lighted/Daylight or Dark

DAYLIG

ADDITIONAL

PRACTICE 

INTERFACE ONLY

IN FAMILIARITY 

TRIALS DAY 1 & 2.

USE INTERFACE 

ONLY FOR SCORING 

TRIALS ON DAY 3.

DECLARE EACH 

CONCENTRIC C FOR 

YOUR PROCTOR TO 

SCORE DURING 

THE TRIAL.

Conduct Tests Two Ways

Open Test Lane

[5] 1in screws to affix the buckets

[4] Slotted leg extensions

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

leg extensions to slide on and tighten

[15] 8in diameter weatherproof stickers

(see website to download the sticker files)

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

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

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

[2] Perch acuity targets inside and bottom of A

.

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

Stickers inside each bucket have a GREEN INSCRIBED RING 

to guide alignment and a visual acuity target with 

increasingly small Concentric Cs gaps to identify the 

correct (1 of 8) orientations.

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

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

40 mm 1.58 in 4.5 %

16 mm 0.63 in 11 %

6.4 mm 0.25 in 28 %

2.6 mm 0.10 in 70 %

1.0 mm 0.04 in 180 %

0.41 mm 0.016 in 440 %

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

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

Nested Landolt C Vision Test Chart

#3

DATE/TIME

PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

A

D

C

B 1, 2, 3, 4

LAUNCH

AD

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A ALIGNED (5 PTS)

PARTIAL (1 PT)

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) showing the 

green ring inside the bucket. Score 5 points for a 

continuous green ring or 1 point for a partial. Similar 

scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) AND a single 

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

point for each correct identification of the 5 

increasingly small Concentric C gap directions.

Basic Maneuvering (MAN)

ALIGN WITH BUCKETS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

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

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Montgomery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

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

I

CONFINED TEST LANE

GPS DENIED

and

DARK (<1 LUX)

DUAL BUCKET 

ALIGNMENTS

AT 1 M (3 FT) 

PROXIMITY TO 

OBSTACLES

OPEN TEST LANE

B

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

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

AT 2 M (6 FT) 

PROXIMITY TO 

OBSTACLES

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

ACCURATE (5 PTS)

Align with each bucket long enough to verify the 

inscribed ring and declare as many of the 5 Concentric 

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

video or zoomed in images after the trial to score 

yourself, although scores may differ from live trials. 

BROKEN (1 PT)

Payload Functionality Trials (PAY 1-5)

Scoring based on visual acuity targets

ALIGN THEN CONTROL ZOOM AND EXPOSURE

• Payload Functionality trails use alternating white and 

black bucket stands to apply a zoom/exposure 

workload at each alignment to identify acuity targets. 

• Align with each bucket long enough to verify the 

inscribed ring and verbally call out as many of the 

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

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

visual observer) to rely only on your interface as if 

flying BVLOS.

•

Page 3

Maneuvering trial scores are based on bucket alignment images showing the 

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

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

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

2

Payload Functionality Trials with Pilot Back Turned

2

INTERNAL TEAM ROTATION

ILLUMINATED BUCKETS PROVIDE 

POSITIONING AIDS LIKE STRUCTURE 

WINDOWS OR STREET LIGHTS

BACK TURNEDFACING LANE 

THE PILOT’S BACK TURNED TO THE LANE FORCES 

RELIANCE ON THE INTERFACE 

(VISUAL OBSERVER REQUIRED)

() ()

3) Select the minimum proficiency based on 

average or “expert” scores in the same trials:

– Example: 40%, 60%, 80% of “expert”

4) Select pilot view:

– Line of Sight or BVLOS

5) Select lighting (indoor or outdoor) for 

daylight or night credentials:

– Lighted/Daylight or Dark

DA

ADDITIONAL

PRACTICE 

INTERFACE ONLY

IN FAMILIARITY 

TRIALS DAY 1 & 2.

USE INTERFACE 

ONLY FOR SCORING 

TRIALS ON DAY 3.

DECLARE EACH 

CONCENTRIC C FOR 

YOUR PROCTOR TO 

SCORE DURING 

THE TRIAL.

Conduct Tests Two Ways

Open Test Lane

g 

in hanger bolts and wing nuts for the

nsions to slide on and tighten

eter weatherproof stickers

site to download the sticker files)

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

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

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

h acuity targets inside and bottom of A

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

h bucket have a GREEN INSCRIBED RING 

 and a visual acuity target with 

Concentric Cs gaps to identify the 

entations.

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

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

40 mm 1.58 in 4.5 %

16 mm 0.63 in 11 %

6.4 mm 0.25 in 28 %

2.6 mm 0.10 in 70 %

1.0 mm 0.04 in 180 %

0.41 mm 0.016 in 440 %

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

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

Nested Landolt C Vision Test Chart

#3

P

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

D

C

B 1, 2, 3, 4

AD

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 

)

ucket long enough to capture a 

mage (NO ZOOM) showing the 

the bucket. Score 5 points for a 

g or 1 point for a partial. Similar 

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.

ic Maneuvering (MAN)

ETS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

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. 

18 7

4

NE CENTERLINE

ALIGN

NON-STOP

NON-STOP

z

S

5(S)

CCW

4

5(S)

tainable speed directly over 

sh a stable hover over an 

onnaissance tasks. 

hout starting over the 

 designated buckets and 

e lane.

e each bucket and the 

gnments after the trial. 

cluded in this test. 

ance of 80(S).

AN): Complete 5 laps with 20 

p to 100 alignment points. 

(PAY): Same as Basic 

entify as many acuity target 

to 100 acuity points.

Unmanned Aircraft Systems Small Standard Test Methods for 

ASTM International Standards Committee for Homeland Security Applications;

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

4 Page 

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

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

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

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

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

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

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

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

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

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

11/9/21 5 Page 

Unmanned Aircraft Systems Standard Test Methods for Small

Standards Committee on Homeland Security Applications; ASTM International

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

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

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

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

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

to maximize exposure control.

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

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

evaluate operational readiness and system capabilities.

Conduct Tests Two Ways

Open Test Lane

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

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

5

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

Platform, and a measuring taps Launch/Land

parts for each stand include: The centerline.

post center in 6x4x4 ] 1[

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

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

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

buckets the affix to screws in 1 ] 5[

extensions leg Slotted ] 4[

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

tighten and on slide to extensions leg

stickers weatherproof diameter in 8 ] 15 [

files) sticker the download to website see (

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

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

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

A of bottom and inside targets acuity Perch ] 2[

.

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

Stickers inside each bucket have a GREEN INSCRIBED RING 

to guide alignment and a visual acuity target with 

increasingly small Concentric Cs gaps to identify the 

correct (1 of 8) orientations.

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

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

11 % 0.63 in 16 mm

28 % 0.25 in 6.4 mm

70 % 0.10 in 2.6 mm

180 % 0.04 in 1.0 mm

440 % 0.016 in 0.41 mm

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

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

Nested Landolt C Vision Test Chart

#3

DATE/TIME PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

300 FT MEASURING TAPE - 100

(4) OMNI STANDS

A

D

C

1, 2, 3, 4 B

LAUNCH

DA

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

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

a enough to capture each bucket long Align with 

the showing (NO ZOOM) single alignment image 

bucket. Score 5 points for a ring inside the green 

continuous green ring or 1 point for a partial green 

ring. Similar scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

of each bucket ) single alignment image (NO ZOOM

of each MAX ZOOM) single acuity image ( AND a 

target. Score 1 point for each correct identification of 

. directions increasingly small Concentric C gap 5 the 

) Basic Maneuvering (MAN

ALIGN WITH BUCKETS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

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

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Montgomery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

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

I

CONFINED TEST LANE

GPS DENIED

d an

DARK (<1 LUX)

DUAL BUCKET 

ALIGNMENTS

AT 1 M (3 FT) 

PROXIMITY TO 

OBSTACLES

LANE OPEN TEST 

B

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

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

(6 FT) AT 2 M

PROXIMITY TO 

OBSTACLES

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

ACCURATE (5 PTS)

BLACK BUCKETS & COLOR RINGS 

EMBEDDED INTO SCENARIOS

1

TOP

1A FRONT 

BACK 1C 1B LEFT 

RIGHT 1D 

ALL “A” BUCKETS

POINT TOWARD THE 

LAUNCH LAND /

HANDLE

CENTERLINE

ONLY THE NUMBERS 

CHANGE FOR EACH 

OMNI BUCKET STAND

1A

BROKEN INNER BLACK EDGE

IS THE JUDGEMENT POINT

POST

LEGS 

FLUSH WITH TOP

SHOWN ALIGNED ALIGNED NOT SHOWN 

BUCKETS & GREEN RINGS WHITE 

STANDARD TEST LANES IN 

Select Trial Settings for Different Flight Credentials

Focus Training and Evaluate Proficiency for Credentialing

Night Ops BVLOS Daylight/LOS CREDENTIALS

Standard Lane 

(Indoor or Outdoor)

Pilot’s Eyes On 

(Available)

Pilot’s Back Turned

(Interface Only) Lights Out, Buckets Lit

Embedded Scenario (Indoor or Outdoor)

Pilot’s Eyes On 

(Available)

Pilot’s Back Turned

(Interface Only) Lights Out, Buckets Lit

ILLUMINATED BUCKETS PROVIDE 

POSITIONING AIDS LIKE STRUCTURE 

WINDOWS OR STREET LIGHTS

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

THE PILOT’S BACK TURNED TO THE LANE FORCES 

RELIANCE ON THE INTERFACE 

(VISUAL OBSERVER REQUIRED)

Select the test lane and scenarios based 1)

on the intended environment and aircraft: 

Open, Obstructed, or Indoor –

Select the test procedure and time limit 2)

based on the intended mission:

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

Select the minimum proficiency based on 3)

average or “expert” scores in the same trials:

Example: 40%, 60%, 80% of “expert” –

Select pilot view: 4)

Line of Sight or BVLOS –

Select lighting (indoor or outdoor) for 5)

daylight or night credentials:

Lighted/Daylight or Dark –

DAYLIGHT / LOS ADDITIONAL

Line of SightE LAN FACINGInstruments Only D TURNE BACK

Interface

Only

BACK TURNED

Line of

Sight

FACING LANE • Verify your score after 

the trial using captured 

video, although scores 

may vary due to 

increased image or 

monitor resolution.

REPORT GAP DIRECTIONS RELATIVE TO THE BUCKET NUMBER (TOP)

TEST OR 

SCENARIO

Pilot with Interface

FACING AWAY

Visual Observer

FACING AIRCRAFT