Based on the model of Ablow and Schechter, the equation of stable direct route motion of the streamer system of underwater vehicle is established. The simulation calculation program of stable direct route motion of the streamer system is compiled according to the equation. Under the condition of setting the kinematics and dynamics boundary of the streamer, the stable array of the streamer system is simulated numerically. The influence of the key parameters such as the speed of towing point, the density of streamer and the diameter of streamer on the stable direct route motion array and tension of the streamer system is discussed. On this basis, combined with the full-scale model of the streamer system, the actual towing test on the lake is carried out. The test results show that the results obtained by the simulation method in this paper are consistent with the actual array obtained by the actual motion test, and can effectively evaluate the array attitude and node hydrodynamic characteristics of the streamer system.