We studied the estimation and control of motion posture of minehunter sonar base.So the theory basis for simplifing system structure and improving reliability and control effect was supplied.

• 对猎雷声纳基阵运动姿态的估计与控制进行了研究，为简化系统结构，提高系统可靠性及控制效果，提供了理论依据；