Pump jet thrusters have gradually become the first choice of modern submarines, and vector thrusters have also been widely used in the aerospace field. In order to solve the problems of low control efficiency under low speed and improve the turning performance of submarines based on traditional rudder control, the application of vector thrusters in submarines has gradually become a hot spot at home and abroad. In this study, considering the nonlinear influence of various parameters of submersibles under large rudder angle (nozzle deflection angle), a nonlinear model of the horizontal maneuvering motion of a submersibles was established. By analyzing the turning performance of the submersible under three different control methods of ship rudder propeller, ship vector propeller and ship rudder vector propeller, the simulation was carried out under three different conditions: low speed, controlling the rotating speed of the pump jet propeller and controlling the axial speed of the submersible. The simulation results show that the vector pump jet propeller can effectively improve the turning performance of the submersible.