The endurance of ARV is directly affected by the efficiency of motor thruster, which is related with the efficiency of motor itself and the structure parameters of duct and propeller. Based on the coordinate transformation, the three-dimensional model of ducted propeller is established for a 10 000 meter ARV. The CFD simulation model of ducted propeller is built to analyze the hydrodynamic performance. Through the co-simulation of the permanent magnet propulsion motor and the control system, the loss and efficiency of the motor are calculated. Under the condition that the total thrust produced by the ducted propeller is constant, the relationship between structure parameters (disk surface ratio, trim angle and attack angle of the duct) and the thruster’s overall efficiency is analyzed. The results have certain guiding significance for the design and optimization of ducted propeller.