This master thesis presents a new software architecture and the proof of concept of the software architecture called RPAS Mission Management Architecture (RIMA). RIMA aims to provide more intelligence to the RPAS, such increase the automation of the mission performed with Remotely Piloted Aircraft Systems (RPAS). The predecessor of RIMA is a software architectures called UAS Service Abstraction Layer (USAL) which has been evaluated against others software architectures, Robotics Operative System (ROS) and OpenJAUS, under the guidelines of ISO 9126. The evaluation performed among software architecture has used to identify the strengths and weaknesses of each one in order to improve the definition of RIMA. The middleware used in RIMA is by Real-Time Innovation (RTI) which implements the Data Distribution Service (DDS) standard. The master thesis follows describing the structure of RIMA and propose a practice case and an example of data model to use in RIMA. The conclusions explain the results of the master thesis and propose several future work in order to improve the different aspect of the architecture.