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中文摘要：
把导航领域、军事领域和导航电子地图中广泛应用的圆概率误差（circular error probable,CEP）引入到HPL（horizontal protection level）的计算中,在最小二乘残差法基础上构建了基于圆概率误差的RAIM（receiver autonomous integrity monitoring）可用性算法。首先计算了在一定误警率、漏警率条件下多颗卫星发生故障时的水平定位偏差和一定置信度下的圆概率误差;然后以GPS导航星座为例,探讨了相关观测下计算HPL的新方法;最后把HPL与水平告警限差（horizontal alert limit,HAL）相比较,得到了基于圆概率误差的RAIM可用性,并通过算例验证了此方法的有效性和可行性。
英文摘要：
Receiver autonomous integrity monitoring（RAIM） uses the redundant observations to detect faults and provide timely alerts when it should not be used for navigation user.RAIM can monitor the satellite faults,moreover,its calculation time is short.In this paper,the insufficiency of previous RAIM availability algorithms have been pointed out,which only considered the user horizontal position error caused by the satellite breakdown（non-random factors） without considering the user horizontal position error caused by the pseudorange noise（random factors） under a certain confidence.To this purpose,a RAIM algorithm based on circular error probable（CEP） is put forward and designed according to both random factors and non-random factors.Firstly,the user horizontal position deviation is calculated based on satellite breakdown of GPS and a certain false alarm probability and missing alarm rate.Then,the CEP mathematical model has established under certain confidence and RAIM availability is obtained by comparing the horizontal protection level（HPL） and the horizontal alert limit（HAL）.Finally,simulation computation indicates the new RAIM availability algorithm is effective and useful.
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