Abstract: Aiming at the problem of future multi-domain high-intensity operations，such as strong confrontation，multi-platform，miniaturization and clustering，a high-density integrated micro-inertial navigation autonomous integrity monitoring algorithm was proposed，which relys on the optimal estimation theory.It analyzes the information sources of measurement errors that may appear in the micro-inertial navigation system，performs pre-check selection by optimizing the number of subsets，and uses Newton′s identity to optimize the engineering computational complexity to achieve the purpose of fault detection and elimination.Compared with the traditional MHSS algorithm，the computational complexity in micro-system could be greatly reduced,small-error and multi-error fault observations could be effectively detected simultaneously，which improves integrity and robustness of high-density integrated micro-inertial guidance and navigation systems.

Key words: high density integration, micro system, combination navigation, integrity monitoring, robustness