Aviation emissions that are dispersed into the Earth's atmosphere affect the climate and air pollution, with significant spatiotemporal variation owing to heterogeneous aircraft activity. In this paper, we use historical flight trajectories derived from Automatic Dependent Surveillance–Broadcast (ADS-B) telemetry and reanalysis weather data for 2019–2021 to develop the Global Aviation emissions Inventory based on ADS-B (GAIA). In 2019, 40.2 million flights collectively travelled 61 billion kilometres using 283 Tg of fuel, leading to CO2, NOX and non-volatile particulate matter (nvPM) mass and number emissions of 893 Tg, 4.49 Tg, 21.4 Gg and 2.8 × 1026 respectively. Global responses to COVID-19 led to reductions in the annual flight distance flown and CO2 and NOX emissions in 2020 (−43 %, −48 % and −50 % respectively relative to 2019) and 2021 (−31 %, −41 % and −43 % respectively), with significant regional variability. Short-haul flights with durations < 3 h accounted for 83 % of all flights but only for 35 % of the 2019 CO2 emissions, while long-haul flights with durations > 6 h (5 % of all flights) were responsible for 43 % of CO2 and 49 % of NOX emissions. Globally, the actual flight trajectories flown are, on average, ∼ 5 % greater than the great circle path between the origin and destination airports, but this varies by region and flight distance. An evaluation of 8705 unique flights between London and Singapore showed large variabilities in the flight trajectory profile, fuel consumption and emission indices. GAIA captures the spatiotemporal distribution of aviation activity and emissions and is provided for use in future studies to evaluate the negative externalities arising from global aviation.