为满足PBN中RNP规范对导航性能监测与告警要求，通过估计传统GNSS/SINS完好性算法检测统计量的变化率来提高故障检测效率，并在此基础上，提出一套基于量测分离的复合式平行滤波算法实现故障排除和量测重构,算法具有较强的灵活性和适用性。仿真分析表明，与传统方法相比，该算法可检测出惯性元件故障，检测效率更高，并且适用于多重故障的情形。

In accordance with the strict demand of Performance Based Navigation (PBN) on navigation performance monitoring a set of integrity monitoring algorithm for integrated GNSS/SINS system was presented for increasing the fault detection efficiency.Based on which a combined parallel filtering algorithm was used for fault exclusion.The simulation results showed that by using the algorithm both GNSS and Inertial Measurement Unit (IMU) failure can be detected and the detecting efficiency for Slowly Growing Errors (SGEs) was improved.In addition the algorithm is adaptable to multiple measurement failures.