2）In order to locate the hidden pipeline quickly and accurately, it is quite important to select the right equipment to be installed on the USV. They could not be too heavy and should be low power consumption. Furthermore, the water is turbid and visibility is poor. So the optical camera equipment cannot be used. While water quality sampling can only analysis the pollution situation of the water nearby, but can not accurately find the location of hidden pipe. Under this kind of environmental condition, only the side scan sonar is able to meet the requirements of the project.