Mixed submarine navigation device

A hybrid underwater vehicle, the underwater glider and advantages of AUV is rolled, the head cartridge, the cartridge drive control buoyancy, attitude control cartridge, wing positions, the battery compartment, the end positions sequentially integrally connected. The drive system consists of an outer buoyancy bladder, the bladder, the hydraulic system; attitude adjusting system by pitch regulation system, roll control system configuration; two outer wings cartridge having two rotational degrees of freedom of each wing under the control of drive transmission may be implemented glide forward and rotational motion when deployed, the cabin may be bonded to recover fast advance; navigation and control system for the aircraft attitude measurement, navigation, buoyancy control, rotation and retraction wing propeller and a driving motor control control. Modular design structure of the present invention, mounted on a respective measurement sensor and the task module may be prolonged to achieve a wide range of monitoring and surveying of water, can also be accurate and fast tracking of targets monitoring operations.