Abstract This paper analyzes the ARAIM performance of GNSS dual constellations, three constellations and four constellations combination when only considering satellite failure and considering satellite failure and constellation failure at the same time. It analyzes the ARAIM performance of ground stations under LPV-200 through measured data, and further simulates the availability of GNSS ARAIM under LPV-200 in the world. The results of measurement and simulation show that the availability of ARAIM decreases from the equator to the poles in a symmetrical distribution. As a heterogeneous constellation, BDS can significantly increase the availability of ARAIM in the Asia Pacific region. Compared with the dual satellites failure, the availability of GPS+BDS ARAIM decreases greatly when the single satellite and single constellation failures occur simultaneously. The availability of ARAIM of GPS+GLONASS+BDS and GPS+GLONASS+BDS+Galileo decreases slightly.