The research platform for underwater wet welding is designed and high frequency ultrasonic sensor is put into use, The research platform comprises four independently movable shafts which names as X, Y, Z and A axis, The four axes are driven by servo motor and stepping motor, The features of both servo motor and stepping motor are analyzed at first, and then the relationship between the moving speed and controlling precision among different shaft is discussed, control program is given out based on ADT8940A1 PCI four-shaft bus control card after the shafts running parameters have determined, With the help of high-frequency underwater ultrasonic sensor, high-precision ranging experiments are carried out on the base of a hybrid digital signal process method combined band filter and Wavelet transform (WT), satisfied results are achieved in distance detection experiments with related coefficients method, results will be used in seaming tracking later.