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The deep-sea crawling and sailing hexapod robot is a new type of deep-sea unmanned submersible that can patrol in the deep sea and crawl on the sea bottom. In view of the task demand of water cruising and seabed crawling, as well as the problems of large communication capacity, many management equipment, large amount of data processing and complex working conditions, the idea of "upper navigation control + lower motion control" control structure is proposed, and the PC104 embedded computer is designed as the hardware flat. The embedded navigation and control system of crawl unmanned submersible based on real-time multitask operation system VxWorks. On the basis of multi task scheduling, communication management and data acquisition and storage, the simulation experiment of navigation obstacle avoidance decision is completed, and the control effect of the navigation and control system of the submersible is verified.