Abstract: In order to solve the problem that multi-orthogonal signal underwater navigation system has no prior knowledge of attitude in system calibration, a system calibration algorithm based on Rodriguez matrix transformation is proposed to estimate the attitude angle of transmitter. The proposed method is used to solve the problem that the initial error of the traditional non-linear least squares method is too large to lead to the convergence of the algorithm. In the proposed method, the non-linear approximation is not required to avoid the error caused by linearization, and the calculation is simple and efficient. It has no limitation on angle size and has a wide range of applications. The lake trial results show that the estimation accuracy of the proposed method is higher than that of the least square estimation method without prior information. Key

Key words: underwaternavigationsystembasedonmulti-orthogonalsignals, systemcalibration, Rodriguesmatrix, attitudeangleestimation