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As an traditional method of satellite failure detection, RAIM plays an important role in GPS integrity monitoring realm. Based on the parity vector RAIM algorithm, an improved satellite fault detection method based on wavelet-transform was presented. Firstly, the satellite fault signal was transformed, and the fault signal characteristics were extracted by using Haar wavelet decomposition. Then, the signal jumping point was identified on the different scales ,and the detection results were feedback to the RAIM algorithm to analyze the different fault performance. The simulation results show that the accuracy is improved ,and the false alarm rate is reduced.