Because the underwater gravity matching navigation is an important means to improve the underwater navigation accuracy of submarine, the research progress of marine gravity field, gravimeter and gravity gradiometer are reviewed in this paper. Firstly, the research progress of marine gravity field at home and abroad is summarized. The development history of SS series and KMS-DNSC-DTU series global gravity field models is reviewed. Secondly, this paper mainly introduces the types, accuracy level and research progress of gravimeter / gravity gradiometer at home and abroad. The representative models of different types of gravimeters / gravity gradients are listed. Finally, this paper briefly describes the phased research results of the research team of navigation and detection based on the information of aerospace-aeronautics-marine integration in the Qian Xuesen Laboratory of Technology.