中文摘要：

针对GI-RAIM（GPS Inertial RAIM）惯导辅助GPS接收机自主完好性监测，本文引入了检测时间延迟和检测函数均值偏离度作为评估性能的概念；对比分析了当GPS发生慢变故障（SGE）时，残差检验法和状态多步外推法的故障检测性能。仿真结果表明，状态多步外推法对于慢变故障的检测性能更优越。

英文摘要：

Aimed at GI-RAIM autonomous integrity monitoring, this paper introduces a concept including detecting time delay and average deflection of detecting function as capability of FD（Fault Detecting）, compares Chi-square test with multistep state extrapolation on capability of SGE（slowly growing errors） detecting of GPS. At last the simulation result shows that the performance on SGE obtained by using the multistep state extrapolation is better than that by chisquare test method.