We describe an estimator that merges two functions that are key in integrity monitoring: fault detection and fault exclusion. One of the main contributions of this work is the derivation of a protection level with an analytical proof of both integrity and continuity for the proposed estimator. This estimator offers a new way to implement FDE for integrity monitoring, and it may provide better worst-case performance, a simpler logic in the algorithm design, and a smoother behavior of the state estimates than standard approaches. The proposed method is evaluated in an Advanced RAIM scenario.