Aiming at the problems of high risk, high cost and long training cycle for real ship training existing in remote operated vehicle (ROV) retractable operation, while lacking of perfect training and operation system for deep submersible, a character IK control method based on inverse kinematics was proposed, and the simulation of virtual human operation behavior was realized by key frame animation. A mathematical model of the joint motion of umbilical cord cable crane and ROV gantry crane was proposed to realize the synchronous control of cable expansion and gantry crane rotation. The system interaction was enhanced by using the technologies of view switch, operation hint and GUI interface. Simulation results verify the validity of the model, and the research results have been applied to the simulation system of manned deep submersible retrieving and releasing operation.