The invention discloses a method of judging correctness of a terrain matching result in BSLAM, the method mainly being a method of judging whether a terrain matching result obtained during judgment of AUV bathymetric simultaneous localization and mapping (BSLAM) is correct. According to the method, judgment of terrain matching effectiveness is achieved through continuous iterative calculation of a consistency function as long as terrain matching data and milemeter data are input. A self-inspection method and a multi-window method are introduced during iteration, and the aims are to avoid local optimum and ensure global consistency and local consistency at the same time. The beneficial effects are that the method does not rely on auxiliary equipment, is high in calculating efficiency, enables local optimum to be avoided, and meets requirements of local consistency and global consistency at the same time.