The characteristics of underwater space motion of large-depth vehicle is analyzed，and the mathematical model describing its space motion is established. Based on the mathematical model ， the Matlab\Simulink software is used to complete the development of space motion simulation model of vehicle. On the basis of the established simulation model，the mathematical simulation method is used to analyze the whole process of underwater motion of vehicle in the state of spiral submergence，load-throwing transition，constant angle climbing and surface navigation after stabilizing is described. The motion capability simulation evaluation of the vehicle in the shape design scheme with an arc wing-plate is given，which provides the simulation basis for the following optimization design of the motion capability of the vehicle.
