Through data acquisition of multi-sensor

the core of LPC2478-based embedded control system achieves goal of autonomous cruising monitoring of wave glider in ocean. Based on Gaussian geodesic algorithm

calculate geodesic distance of current and presupposed position and heading angle deviation value; simultaneously based on PID control algorithm

calculate system outputs deflection angle which is needed for stem rudder system. The two algorithms constitute algorithm system of navigation strategy

achieve visual tracking and virtual anchor of wave glider. Meanwhile

to ensure accuracy of navigation information

two groups of sensors are added

that is wave height meter and flow meter

as auxiliary navigation sensors. Thus a complete navigation system for controlling of wave glider motion is constructed

and in practical applications of sea trial

the system achieves good results.