Fault-Tolerant Optimization Algorithm for Ship-Integrated Navigation Systems Based on Perceptual Information Compensation

Autonomous ships require reliable and economical navigation; however, their performance is hindered when satellite-based positioning signals become unavailable. In such global navigation satellite system (GNSS)-denied conditions, a backup navigation system integrating a strapdown inertial navigation system (SINS), Doppler velocity logger (DVL), and a compass (SINS/DVL/COMPASS) can provide essential state information, but the accuracy and fault tolerance of such systems are constrained by weak observability of position/heading errors and strong dependence on DVL measurements. This study proposes a fault-tolerant optimization method based on perceptual information compensation. First, radar imagery and electronic chart data are fused at the feature level using a weighted wavelet strategy to enhance the environmental feature saliency for shoreline extraction. Second, characteristic coastline inflection points are detected and tracked using a dual-curvature and distance-constrained procedure, generating external position observations via radar–chart matching. These observations are incorporated into the SINS/DVL/COMPASS framework to improve its state observability and robustness. Simulation results show that under nominal conditions, perceptual compensation mitigates error divergence and promotes the convergence of position errors, improving the positioning stability. In terms of robustness, the proposed method delivered more stable state-error behavior than the baseline under DVL speed faults of +2 m/s, −2 m/s, and +2 m/s injected at 301–330, 701–730, and 1101–1130 s, respectively. Quantitatively, the 3σ bounds of velocity and position-related errors are reduced under fault conditions, indicating improved fault tolerance and suitability for short-term nearshore autonomous navigation during GNSS outages.