In today's world, the use of Unmanned Underwater Vehicles(UUVs) for the number of fields of
mankind are on the rise. Hence, UUVs have been gaining a crucial prominence in the industry
nowadays UUVs are commonly used in military and civilian applications. As the studies on the design
of the underwater vehicles reach further and more efficiently , it can work under more difficult and
dangerous conditions. At this point, the purpose of studies should be to reduce dependence on human
beings in underwater researches. Being designed UUVs for this purpose are becoming more crucial
but it leads to more complex systems. In this study the mathematical model of the autonomous UUV is
created and the kinematic equations displayed through Matlab. When the angular and linear velocities
of the underwater vehicle are known ,thus, its location and orientation are found with forward
kinematic equations according to the earth coordinate system. Moreover, from inverse kinematic
equations, angular and linear velocities are known in the earth coordinate system.