GPS/INS integrated navigation system is now widely used in aviation, aerospace, marine and road transport. According to integrity study, a deep analysis was taken for residual chi-square test and state chi-square test, a state propagator test which was a improvement to residual chi-square test was introduced. A simulation study of two methods was done based on detection of abrupt failure and gradual failure. The results prove the validity of three methods and show that a state propagator test has some advantages over residual chi-square in the gradual detection.%GPS／1NS组合导航系统现已广泛应用于航空、航天、航海和公路交通等领域，对于它的完好性检测研究，分别采用残差X^2检验法和状态X^2检验法进行了深入的研究分析，同时给出了对残差X^2检验法的改进方法，即基于状态递推器的方法。通过对突变故障检测和缓变故障检测的仿真研究，验证了3种算法的有效性，并且仿真结果表明在缓变故障的检测上，基于状态递推器的方法比残差X^2检验法有一定的优越性。
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