This paper addresses the design method of navigation system for the autonomous underwater vehicle (AUV), which includes overall navigation architecture, hardware and software structure. This paper is focused on how to build the integrated underwater navigation module which is applicable to various types of underwater vehicle rather than the navigation algorithm, itself. The autonomous underwater navigation system consists of many software, hardware components and the systematic integration of these components is very important to build up the efficient navigation system within the given resources. In order to achieve this goal, we introduce the systematic integration manner developing the modular autonomous underwater navigation system based on Open Platform for Robotic Service (OPRoS) [1].