Abstract: Great successes have been made in applications of information fusion in the mode recognition and state evaluation. It is the same that the application of information fusion in the motion control system of underwater vehicles will greatly promote the development of control technology. This study proposes a layered multi-loop control system used the technology of information fusion. It recurs to the layered fusion and multi-level feedback of information to perfect the control system and then improve the control performance and intelligence behaviors of underwater vehicles.