The traditional submarine voyage training has problems of high cost, long period and high risk. In this paper, a submarine voyage training simulation system was proposed based on virtual reality and submarine control theory. At first, the construction of the system and the functions of modules were described. The coach control system based on digital chart was realized, which can achieve functions of training environment and parameters setting. The model library of virtual ocean scene was built and then the scene was rended by Vega Prime. In order to remedy the deficiency of the network, a DR algorithm was explored, which can satisfy the realtime requirements of scene simulation and achieved the frame alignment between channels and coherence of observers.