The purpose of the research is to develop the Real-Time and FPGA frame to rapidly create an AUV system with multi-functions. To achieve this goal, the NI-CompactRIO controller is adopted because of its small size, high stability and the standing alone work of the feature. It belongs to an intelligent embedded Real-Time processor. And this controller is based on FPGA core for embedded systems with parallel execution capabilities, high compatibility, and provides modular connection interface. The LabVIEW graphical programming software and collocate the Real-Time/ FPGA software module is used to establish the AUV's Human-Machine Interface (HMI) which integrate the software and hardware equipments and simplify the procedure artificial processing to provide perfect humanity operation interface. At the same time it also provides a multi-faceted message display and Real-Time data analysis functions to easily control the processing conditions. The performance tests for the AUV prototype developed here have been successfully done in the towing tank and near-shore sea and the preliminary design criteria is achieved.