The invention relates to a non-cable self-control underwater navigation body hovering and controlling method. The method includes the following steps: an underwater navigation body collects sensor information on the navigation body, enables collected depth values and collected trim angles to be used as a feedback signal after being filtered, a proportional plus integral plus derivative (PID) control way is used to achieve the control to the depth values and the trim angles and obtains control values next, according to arrangement of a thruster, the control values are distributed and transmitted to vertical channel thrusts of a bow portion and a stern portion to achieve hovering control. By the adoption of the non-cable self-control underwater navigation body hovering and controlling method, the fact that a non-cable self-control underwater navigation body stably hovers in the set depth can be achieved, when the non-cable self-control underwater navigation body is in hovering, error of the depth of the underwater navigation body is less than +/-0.5 meters, variation ranges of the trim angles are less than +/- 10 degrees. The non-cable self-control underwater navigation body hovering and controlling method provides technical guarantee for the non-cable self-control underwater navigation body in completing smooth satellite positioning rectification under water.
