Abstract: Performance of dipping diver detection sonar is affected by sonar head swing. The inclined transmitting beam can change the acoustic wave grazing angle to seabed and increases the scattering strength of boundary reverberation. The rotation of dipping sonar head can confuse directions of the receiving wave. In this paper, the transformation matrix between geodetic coordinates and dipping sonar head coordinates is given. By controlling the phase of beam-performer, the main lobe of transmitting beam can be stable in the horizontal steering direction, and in the case of 6° inclined angle, the simulator obtains approximately 2.7 dB gain of transmitting beam in the direction of steady steering. The orientation error of receiving beam is compensated by the rolling angle of sonar head in the geodetic coordinate, which can improve the azimuth precision to 0.56° while the sonar head is under inclining and rotating status. Simulation results are matched with trial data. The method is proved to be feasible in the design of diver detection sonar.