Demonstrating ARAIM on UAS using Software Defined Radio and Civilian Signal GPS L1/L2C and GLONASS G1/G2

As Global Navigation Satellite System continues to upgrade, the number of satellite increases and new signals in different frequencies are available. This offers users several benefits such as increased availability and improved diversity of signal. For safety-of-life users like aviation, higher availability of integrity is the key goal. A technology providing integrity with little or no ground infrastructure is receiver autonomous integrity monitoring (RAIM). As more satellites are visible to the receiver, the redundancies increase and RAIM availability for detecting faults improves. Moreover, the ionosphere delay could be eliminated through multi-frequency combination. The Advanced RAIM (ARAIM) uses multi-constellation and multi-frequency GNSS and hopes to provide vertical guidance for aircraft. For evaluating ARAIM in flight, an inexpensive flight is executed by an unmanned aircraft systems (UAS) with a developed ARAIM software receiver. The receiver supports civilian signals including GPS L1 C/A, L2C and GLONASS G1, G2. An efficient software architecture are proposed for the real-time purpose. Using the outputs from the receiver, a developed ARAIM toolbox computes the protection levels. Field test is conducted by flying the UAS on a live test campaign. The ARAIM performance during the flight shows that the vertical protection level achieves the target.