The characters of least-squares-residuals method belonging to receiver autonomous integrity monitoring(RAIM) were analyzed. After the receiver clock bias behavior was accurately modeled using global positioning system(GPS) measurements, a new algorithm for RAIM was developed based on the least-squares-residuals method with the aiding of receiver clock bias. It can be gained through the model. The novelty lies in that on the condition of only four satellites in view, it can still use chi-square distribution to detect the failure satellite of GPS. So it can improve the availability of RAIM. The simulation results show that this algorithm is not only simple but also available and feasible.
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