Aiming at the observation information’s no redundancy and fault in the GPS/SINS integrated navigation system, a fault detection and information fusion method of integrated navigation system based on wavelet aided was put forwards. This algorithm first uses wavelet technology to analyze the estimation errors of the Kalman filter in order to find the fault point and decrease false-alarm probability in short time. If there is soft-fault in the GPS output information, the improved self-adaptive filtering algorithm is used to fuse the information, thus the system’s filtering accuracy, fault tolerance and reliability gain ensured. The simulated experimental results verify the feasibility of proposed scheme.