This paper presents a description of the created prototype of an omnidirectional underwater vehicle. Some aspects of its mathematical model and discusses several issues of improving maneuvering and performing teleoperations consider. The proposed approach advances remote-control capabilities of the underwater vehicle orientation using accessories with inertial sensors. The discussed issues are in the context of increasing automation and convenience of the visual underwater pipeline inspection. The transients of orientation regulators evaluate under natural conditions close to operational ones. An autoregressive with exogenous input model uses for the construction of averaged transient response. The control system is implemented based on the feedback linearization method.