Unmanned underwater vehicles have many applications in scientific, military, and commercial areas because of their autonomy. In many cases, an underwater vehicle adopts a control algorithm based on a tactical inertial sensor for precise control. However, a control algorithm that uses a tactical inertial sensor is unsuitable for some underwater vehicle missions such as torpedo decoys. This paper proposes a control algorithm for an unmanned underwater vehicle that does not require precise control. The control lgorithm proposed for an unmanned underwater vehicle adopts a low cost MEMS inertial sensor, and simulations using the specifications of the MEMS inertial sensor under development are performed to verify the control algorithm under a real environment. The results of these simulations are presented.