The development and operation of autonomous underwater vehicles (AUV) is a complex, dangerous and expensive task. It is for this reason that at MMI concepts have been developed for a virtual test bed for underwater vehicles, which is designed to reduce the costs and risks associated with the running of AUVs in future. The basis for this is a comprehensive and realistic 3D simulation, which covers the dynamics of rigid bodies in an underwater marine environment, as well as the simulation of actuators and sensors.