When the Autonomous Underwater Vehicle(AUV)executes a task underwater, it faces several problems including few navigation means, positioning error drift of traditional dead reckoning, and that the unitary navigation method is not enough to meet the requirements for implementing precise underwater tasks.An integrated navigation method based on underwater Ultra-Short Base Line (USBL) acoustic positioning system, Global Positioning System (GPS) and Tilt compensation Compass Module (TCM) is proposed, and the coordinate transformation involved is described in detail. The Kalman filter is used to estimate the position of the AUV for obtaining the position and speed information needed for control and navigation.There is no positioning drift. and the navigation and positioning accuracy is better than 10 m, which can satisfy the requirement of AUV when executing underwater tasks for a long time. The method has been tested and verified on an unmanned AUV.