Establishing accurate hydrodynamic models for underwater vehicles requires extensive motion and force data. However, acquiring such data through full-scale sea trials involves complex platforms, sensors, and control technologies, presenting significant constraints and substantial costs. Therefore, identifying reliable alternative approaches, such as Computational Fluid Dynamics (CFD) simulations, is essential for efficiently obtaining the requisite modeling data. This study employs CFD techniques to conduct simulations, specifically utilizing the overset mesh method to address the multi-degree-of-freedom motion of the vehicle. Concurrently, Circulating Water Channel (CWC) experiments were performed to obtain comparative data. The simulation results demonstrate strong agreement with the experimental measurements, validating the accuracy and reliability of CFD simulations in predicting the hydrodynamic characteristics of underwater vehicles. The findings indicate that the adopted CFD simulation methodology can provide a credible data foundation for hydrodynamic modeling of underwater vehicles, effectively overcoming the numerous limitations associated with sea trials.