The ability to know dock position and its pose is a key requirement for AUV (Autonomous Underwater Vehicle) docking with a singe-direction dock in unknown underwater environments. A terminal guidance method is presented based on USBL (Ultra Short Baseline) combined with a CCD camera. The underwater terminal docking guidance methods are introduced. With the characteristics of terminal underwater guidance sensors, a USBL combined with a CCD camera is designed. A light is arranged in dock centerline for vision co-target, with another center point for transponder of USBL. After image processing, the image coordinates of the light source is got, with the known distance between the transponder and the vision source, the dock position and pose is derived, which is help for online guidance for AUV underwater docking.