The invention provides an SINS/DVL/ES combined navigation method based on information pre-evaluation and navigation result compensation correction. DVL data validity is judged before SINS/DVL combination, and when the DVL data information is invalid, DVL navigation information does not participate in combined navigation; at the same time, a residual error x2 testing method is introduced for evaluating whether combined navigation results are stable, and a compensation correction method is designed for real-time evaluation and correction compensation of Kalman output results when the combined navigation results are oscillated. The combined navigation method can effectively suppress the divergence speed of the SINS/DVL combined navigation attitude and speed, improves the combined system attitude and speed accuracy, improves the position accuracy in a certain extent, and also can solve the oscillation problem of attitude errors brought by declining of the DVL data information quality.