This paper proposes a mosaicing method of sonar images based on a bionic mechanical pantilt system. From the principle of vestibule-ocular reflex, an active compensation control system of bionic mechanical pan-tilt is established. The system can compensate the sonar image instability due to attitude variation of the sweeping survey boat or submarines during operation. To obtain sonar image mosaics, the sonar images are matched with information of the attitude sensors and GPS. Simulation experiments are performed in different environments. The results show that the model is robust and has the ability of dynamic compensation. The results show effectiveness of the system.