The phased array DVL adopts phased array technology to transmit and receive acoustic signals, without the need to compensate for sound speed, and has high precision. For the inherent scale factor error and the complex underwater environment problem, the stability of the speed measurement accuracy is poor, and the navigation accuracy of the inertial navigation combination is seriously affected. Firstly, the error characteristics of Doppler log are introduced. Then the characteristics of laser inertial navigation with high short-term precision are analyzed. The high-order Kalman filtering model for scale factor and installation error is established, and the integrated navigation and positioning technology algorithm is obtained. Finally, the combined navigation algorithm is carried out with the laser inertial navigation to measure the lake condition. The voyage of individual voyages is within 10 km, the maximum positioning error is less than 10 meters, and the general voyage is within 20 km. The maximum positioning error is less than 0.2%D. The test results show that the integrated navigation technology has obvious technical advantages, and provide an important theoretical reference for integrated navigation products.