This paper analyzed the advantage and disadvantage of TERCOM, probabilistic data association filtering(PDAF) and iterative closest contour point (ICCP) at first. Then it introduced the correction factor of tide and self-adaptive correction factor to improve the performance of seabed terrain elevation matching algorithm based on PDAF (STEMPDAF). By using STEMPDAF to make initial matching for ICCP, a combinational seabed terrain elevation matching algorithm was proposed. Mobile navigation is allowed during the matching period in the combinational algorithm. Theoretical analysis and simulation results both show that the performance of combinational algorithm is satisfactory.