When an Autonomous Underwater Vehicle(AUV) sails near the surface of the sea. it will inevitably be subjected to wave disturbance. The heave and pitch motion caused by wave disturbance not only affects the navigation attitude of the AUV. but also leads to an increase in sailing resistance. https://olivebookmarks.com/story19598838/on-board-multi-user-detection-algorithm-based-on-conditional-neural-process