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The inertial navigation technology of underwater vehicle is the difficulty robot control technology, through the installation of different types of IMU components we can measure parameters underwater vehicle posture, orientation, etc., and achieve the underwater vehicle precise control of the robot using these parameters as feedback. In this paper, we designed the basic AUV control system based on the low-cost micro inertial sensor applications including Spark fun, Arduino Mega and Raspberry Pi and so on. The designed navigation and guidance systems focused on Raspberry Pi, micro SINS distributed control Arduino control board can achieve the AUV inertial navigation requirements, which can read and process these parameters, including location coordinates, linear velocity, angular velocity, attitude angle, azimuth and other information. The pool test application results show that the system meets the Eco-dolphin underwater scheduled flight control requirements.