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Sonar is a device that uses sound waves for underwater detection, mainly used for marine geological mapping, exploration, sediment obstacle detection, port dredging, fishing, water conservancy, and ecological monitoring. Side scan sonar is a type of sonar that emits pulse sound waves within a certain angle range along the direction of detection towards both sides of the water bottom. By receiving the echo information reflected from the water bottom, it obtains information about underwater terrain features. When side scan sonar is measuring underwater, we also need to know its orientation for navigation and control. Due to the inability to measure directly, it is necessary to use the attitude reference system installed on it to achieve the purpose of azimuth measurement.

The basic system of side scan sonar generally consists of a workstation, winch, towed fish, and recording equipment. The azimuth determination we refer to here refers to the measurement of the towed fish. Due to the fact that the sound waves of side scan sonar are emitted from both sides of the towed fish located underwater, the position of the towed fish is the measurement location. Therefore, only by correctly obtaining the position and orientation information of the dragged fish can the accuracy of the measurement be guaranteed. The attitude reference system provides real-time azimuth angles of the towed fish underwater by measuring the seabed geomagnetic field, thereby ensuring clear azimuth reference for underwater measurements. At the same time, only by measuring the accurate orientation information of the towed fish based on the attitude reference system can the correct attitude and heading adjustment be made according to the actual detection needs. It can be seen that the use of attitude reference system provides the possibility for underwater orientation determination and navigation of side scan sonar.

The attitude reference system developed by Huilian Technology consists of three-axis magnetic sensors, three-axis acceleration sensors, and three-axis gyroscopes. It combines Huilian Technology's years of experience in magnetic sensor application to perform hard magnetic compensation, soft magnetic compensation, tilt compensation, and motion compensation on the attitude reference system, ensuring that this high-precision nine axis attitude reference system outputs accurate direction and attitude information. When GPS fails or is affected, Huilian Technology's attitude reference system can play a significant role, providing reliable and accurate information such as azimuth, roll, and pitch angles.