You can look at Apollo Apterra HLS tyres or Bridgestone Firestone FR500 for your Innova. They both are good tyres and would offer good grip, comfort and handling. But Apollo Apterra HLS would offer a quieter and more comfortable ride quality, while Firestone FR500 would be more durable over rough roads.
So, if you drive your Innova over smooth roads then go for Apterra, else Firestone FR500 should do the job. However, if you want all-terrain tyres to negotiate rough/very bad roads then I would recommend Ceat Czar A/T tyres.