Geographic routing protocols on Wireless Sensor Network (WSN) had been researched for many years, but they did not concern with the fault problem. In this paper, we propose an approach to enhance dependability of existing geographical routing protocols to deal with the fault problem and consider the routing problem based on the fault map via query-driven models. For query-driven model, a novel algorithm, called Relay Node Selection Algorithm (RNSA) is proposed, which selects a few relay nodes as temporary destinations. Simulation shows that the success rate of data transmission originated from base station can be raised substantially and the hop count is also reduced via the selected relay nodes.