In the step processing a digitalized signal,noises are generated by internal or external causes of the system.In order to eliminate these noises,various methods are researched.Among these noise elimination methods,Fourier fast transform(FFT)and short-time Fourier transform(STFT)are widely used.Because they are expressed as a fixed time-frequency domain,they have the disadvantage that the time information about the signal is unknown.In order to overcome these limitations,by using the wavelet transform that provides a variety of time-frequency resolution,multi-resolution analysis can be analysed and a varying noise depending on the time characteristics can be removed more efficiently.Therefore,in this paper,a denoising method of underwater vehicle using discrete wavelet transform(DWT)is proposed. In the step processing a digitalized signal, noises are generated by internal or external causes of the system. In order to eliminate these noises, various methods are researched. Among these noise elimination methods, Fourier fast transform (FFT) and short-time Fourier transform (STFT) are widely used.Because they are expressed as a fixed time-frequency domain, they have the disadvantage that the time information about the signal is unknown.In order to overcome these limitations, by using the wavelet transform that provides a variety of time-frequency resolution, multi-resolution analysis can be analyzed and a varying noise depending on the time characteristics can be removed more efficiently. Herefore, in this paper, a denoising method of underwater vehicle using discrete wavelet transform (DWT) is proposed.