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This paper analyzes the technology and characteristics of CAN field bus, aiming at the real-time data exchange requirements of a high-speed underwater vehicle control system, and considering the problems existing in the current "user-defined CAN high-level protocol", a network architecture of underwater vehicle control system based on CANopen standard high-level protocol is proposed from the aspects of solving system stability, reducing human interference factors, improving reliability and subsequent network expansion, The network structure and characteristics of the control system are studied, the functions and tasks of the main network nodes are described, the CANopen communication model is established, the CANopen high-level communication protocol is formulated, the application practice in the project development is carried out, the systematic comparison test is carried out, and the full load underwater flight test is implemented. The results show that the CANopen control network is fast, stable and reliable, smooth data exchange and the network load rate is only 21.9%, It is obviously superior to the requirements of the International Fieldbus Network Association, and is suitable for promotion and application to UUV and other underwater vehicle systems.