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Initially you'll need to do some configuration of your Pi to add some tools for later development, such as RTL-SDR libraries, screen, Git, and a few others. The install uses the default lower privilege pi user hence the use of sudo:

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install git build-essential libtool automake autoconf librtlsdr-dev libfftw3-dev \
librtlsdr-dev rtl-sdr librtlsdr0 libusb-1.0-0-dev pkg-config libncurses5-dev lighttpd \
libbladerf-dev cmake debhelper dh-systemd

Next up, installing the individual components for receivers.

Component Install

Install rtl-sdr tools from source

For whatever reason, I could not get Kalibrate to compile with the Raspbian packages, but doing it this way in addition to the apt way worked later:

cd ~
git clone git://git.osmocom.org/rtl-sdr.git
cd  rtl-sdr
mkdir build
cd build
cmake ../ -DINSTALL_UDEV_RULES=ON
make
sudo make install
sudo ldconfig
cd ~
sudo cp ./rtl-sdr/rtl-sdr.rules /etc/udev/rules.d/
sudo reboot

Install Kalibrate

cd ~
git clone https://github.com/steve-m/kalibrate-rtl
cd kalibrate-rtl/
./bootstrap && CXXFLAGS='-W -Wall -O3'
./configure
make
sudo make install

Install dump1090-FA

cd ~
git clone https://github.com/flightaware/dump1090.git dump1090-fa
cd dump1090-fa/
sudo dpkg-buildpackage -b   
cd ..
ls -la
sudo dpkg -i dump1090-fa_*_*.deb
service lighttpd force-reload
sudo reboot

If your RTL-SDR is connected, dump1090-fa will start on boot and you can navigate to http://<Pi IP Address>:8080/ to view output. By default dump1090-fa uses the first RTL-SDR installed (IE -d 0).

If you added your RTL-SDR after the boot and dump1090-fa was already started, you can restart it with systemctl restart dump1090-fa.service

Install rtl-ais

cd ~
git clone https://github.com/dgiardini/rtl-ais
cd rtl-ais/
make
sudo cp rtl_ais /usr/local/bin

When you use rtl_ais (standalone or via the configured scripts), you will need to be sure to specify the second RTL-SDR with the -d 1 option, because only one set of software can use it at a time. The script should do this automatically.

Additional Installation Resources

I've used some of these guides to get going: