Abstract: With the development of global navigation satellite system, the safety of civil aviation is a new challenge to face, and the integrity monitoring problems become more prominent. The receiver autonomous integrity motoring is one of important research. For receiver autonomous integrity motoring, the system must provide the required navigation performance for civil aviation, specified in terms of the four parameters of accuracy, integrity, continuity and availability. The recent developments in related fields were reviewed, including receiver autonomous integrity motoring under single and multiply satellite failure at a time, and under Gaussian noise environment, especially involving the algorithm, the protection limit and the availability. And then the shortcomings of the research were pointing out. In addition, the new trends and the recent research results were introduced. Moreover, the future research direction were prospected.