The prerequisite factors for the simulation and controlling of underwater vehicles are hydrodynamic coefficients, which we must measure accurately. In this paper, we took a complex shape remotely operated vehicle as the test model, and figured out the important coefficients that can be applicable for the open-shelf depth-setting TUV through a series of hydrodynamic tests. In order to boost the reliability of a depth-setting TUV system, we carry out numerical simulation and hydrodynamics method on the body of the TUV through the Dynamic Analysis of a single rudder .Comparing with empirical equation, the method has be predicted a high accuracy in hydrodynamic characteristic prediction of depth-setting towed vehicle . After changing the experiment environment of the TUV as possible as we can, a suitability algorithm can be used on the distribute system. And then, the pre-design and later validation of TUV with the conclusion of the simulation based on FLUENT which contribute to shorter calculating period and lower economy could show better depth-setting consequent. The paper draw the Process of the Dynamic Depth-setting TUV for three parts including simulation of the rubber , algorithm experiment of the body and the experiment on TUV.