In order to achieve the high accuracy and long endurance of underwater vehicle， it is essential to apply the technique of error suppression and correction based on strap-down inertial navigation system/ Doppler velocity log （SINS/DVL） integrated navigation. This paper introduces different alternative methods when Doppler data fails， and discusses SINS/DVL data fusion filter techniques. It illustrates the damping algorithm， terrain assisted correction， gravity matching assisted positioning， long baseline system assisted positioning and gravity disturbance compensation to further suppress or correct the navigation errors accumulated over time. This paper provides reference for underwater autonomous navigation with high accuracy and long voyage time.