The data was analysed to obtain the horizontal position error between Global Positioning System (GPS) position and ground truth derived from Real Time Kinematics (RTK), with considerations for (1) horizontal position uncertainty estimate (EPH) reported by the GPS receiver, (2) no. Selected test sites are representative of urban environments, including open carparks, flight paths obstructed by buildings along one or both sides, changing sky access when flying towards corners formed by two buildings or dead ends, and buildings with reflective glass-clad surfaces. This paper presents a study on how the operation environment affects the lateral (horizontal) navigation performance when a self-built UAS is going near different types of urban obstructions in real flight tests. In urban environment operations, multipaths could be the dominant contributor to navigation errors. One of the causes of positioning inaccuracies in the Unmanned Aircraft System (UAS) is navigation error.
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