中文摘要：

随着全球卫星导航系统的快速发展,对航空安全提出了挑战,完好性监测问题愈发凸显,用户端自主完好性监测（RAIM）是研究的重点之一。针对RAIM问题,首先介绍了所需导航性能的4个重要参数：精度、完好性、可用性和连续性。从单卫星故障下的RAIM、多卫星故障下的RAIM、高斯噪声下的RAIM 3个方面,综述了国内外相关的重要研究,主要涉及了3个层次内容：算法、计算保护限值和可用性,并指出了目前研究存在的不足。其次介绍了近期研究的新趋势与取得的成果。最后,展望了未来的研究方向。

英文摘要：

The rapid development of the global satellite navigation systems poses a new challenge to the safety of civil aviation, and integrity monitoring becomes a more prominent problem. Receiver autonomous integrity motoring （RAIM） is one focus of research, for which the system must provide the required navigation performance for civil aviation specified in terms of the four parameters of accuracy, integrity, availability and continuity. Recent developments in related fields are reviewed, including RAIM with single and multiple satellite failures, and under Gaussian noise environment. The review especially involves the monitoring algorithm, the protection limit and availability, and then points out shortcomings of present research. In addition, new trends and recent research results are introduced. Finally, future research directions are examined.