Experimental evaluation of multi-gnss integrity in ground functional augmentation mode

This paper presents the results of the investigation of the accuracy and integrity of a GNSS landing system. A theoretical generalization of the ICAO and RTCA recommendations for evaluating the characteristics of the Ground Based Augmentation System (GBAS) for the navigation satellite constellations of GPS, GLONASS, GALILEO, and BEIDOU is performed. The data for the investigation were obtained by performing experimental flights on the UAV, followed by data processing and comparison with the reference trajectory. The research results are presented in the form of graphs of the dependence of accuracy and integrity characteristics on the experiment time, and also as the projections of the error ellipsoid.