In order to solve the problem that the navigation system filter diverges due to the step mutation of sub-sensor measurement information in the integrated navigation system of AUV during the recovery and docking process, on the basis of unscented Kalman filter, an adaptive fault-tolerant asynchronous fusion algorithm is proposed based on the distributed federated filter structure.According to the sampling rate of the sensor, the algorithm establishes a distributed integrated navigation multi-scale system model.When the auxiliary information changes suddenly, the adaptive extinction factor is used to optimize the UKF, and the gain matrix is dynamically adjusted to weaken the influence of fault information on filtering accuracy, which makes the multi-source navigation system more stable and fault-tolerant.Simulation experiment shows that the proposed adaptive fault-tolerant UKF asynchronous fusion algorithm can better suppress the filter divergence and improve the accuracy and reliability of the navigation system, and improve the stability and fault tolerance of the navigation system in the process of recovery and docking.