To satisfy the requirement of AUV simulation research, a hardware-in-the-loop simulation system for SINS/GPS integrated navigation of AUV which consists of ADI/RTS simulation station, IMU, GPS navigation simulator, GPS receiver and water pressure simulator was put forward. This system can realize the real-time communication by using reflective memory network. The conclusion shows that the hardware-in-the-loop simulation system is workable and meets the real-time requirement. It is valuable for the underwater vehicle research.