According to the characteristics of Doppler velocity sonar of underwater vehicle integrated navigation system,a novel method of multiresolution analysis based on translation invariant discrete wavelet transform was proposed.Doppler frequency drift can be accurately estimated under low signal／noise ratio with semisoft threshold filtering using Daubechies wavelet function.The original signal can then be acquired from the composite signal.Simulation experiments show that 4 wavelets deposition method improves the filtering effect greatly with calculation quantity reduction,and the Doppler noise can be eliminated efficiently with the wavelet transform method,thus improve the navigation accuracy of underwater vehicle integrated navigation system.