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This paper is committed to solve some key technique of seabed terrain matching. After introduced the specificity of seabed terrain matching, we analyzed the advantage and disadvantage of TERCOM, PDAF (Probabilistic Data Association Filtering) and ICCP (Iterative Closest Contour Point), then a combinational seabed terrain matching algorithm was proposed to improve the accuracy and practicability of seabed terrain matching which is based and ICCP. By using this combinational algorithm, underwater vehicle is allowed for mobile navigation in the period of terrain matching. Theoretical analysis and simulation results both show that the performance of this combinational algorithm is satisfactory.