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The inertial measurement unit (IMU) is the key sensor of autonomous underwater vehicle navigation system, and its reliability directly affects the navigation performance of the vehicle. In order to improve the fault tolerance of IMU, this paper proposes an IMU fault diagnosis technology based on unscented Kalman filter (UKF) algorithm. Firstly, according to the dynamic equation of autonomous underwater vehicle and the characteristics of the navigation system, an analytical model describing the relationship between the IMU fault and the navigation state is established. Then, based on the characteristics of the UKF nonlinear filtering, the navigation filtering solution is performed. Based on this, the decoupling method is proposed to realize the fault detection of the IMU. And according to the orthogonal principle of UKF, the method of estimating the IMU fault in real time is proposed to complete the online detection and diagnosis of the IMU fault of the underwater vehicle. Finally, the effectiveness of the proposed algorithm is verified by the actual navigation data.