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The longitudinal centroid motion equations for both underwater and air motion process of submarine-to-air tactical missile are established, and longitudinal characteristic is analyzed, then the control system is designed based on conventional methods. Finally, the centroid trajectory and 6-DOF trajectory model are respectively simulated and compared. The result indicated that the centroid motion equations of submarine-to-air tactical missile is efficient in simply designing the trajectory and analyzing the body characteristic, based on which the designed control system can accomplish the control of the missile in the whole process, thus a completed method of longitudinal characteristic analysis and control system design of submarine-to-air tactical missile is provided. 