An intelligent autonomous underwater vehicle (AUV) simulator with improved navigation, autopilot and guidance systems that constrained by maneuvering models was developed. The dynamics system of the AUVs navigation on the base of 3-D Euler-Lagrange equations of motion in six degrees of freedom was integrated with Euler-Rodrigues quaternion, Euler-angle and Euler-axis methods to represent singularity-free AUVs attitude intuitively; In this study, the simulator with a quaternion-based control system was used to test motion performance, maneuverability both of a mini AUV and a large-scale AUV.In addition, an interactive web-based 3-D AUV visualization system was developed and experienced.