Abstract: The navigation system of a class of manned submarine vehicle(MSV) is introduced at first.Then the information acquisition module based on industrial Ethernet is presented.Because there exist many kinds of unmodeled disturbances in the dynamic model of MSV and errors in the sensors,some filters are needed,such as Kalman filter(KF),etc.At last,the data from KFs is used for navigation system of the MSV.The results of semi-physical simulation platform show that the navigation performance is improved greatly.