scented candles and shake and vac 
Wash their beds regularly. The dogs (mucky spaniels) are thoroughly cleaned before they come in. Clipped short for hair. I squirt them with doggy perfume which they hate and actively run away from.
Downstairs we are wooden floored, tiled and have leather sofas so that's an advantage.
Seriously, I do use the candles and plug in fresheners a lot during the winter
And during the year too tbh.
My dog bag was from Amazon for about £12. It's great for bedding and dog towels, for us, pony stuff too.
sunna - I swear my house doesn't smell!! My BF is a clean freak who doesn't really like dogs (apart from ours, which is good). She is totally honest to the point of offence sometimes (!!) and swears our house doesn't smell of dog.
However, see all of above and a weekly cleaner too!! I probably am a bit anal about it tbh.