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In order to monitor the lake water environment in a comprehensive, real-time and high efficient way, it is very important to design a lake water quality automatic monitoring system. Many robot boats carry water temperature, pH, dissolved oxygen sensors and construct ZigBee based wireless sensor network for data acquisition. The water quality data is transmitted to the host computer through the wireless sensor network for analysis and display. The robot boat can autonomously navigates to the specified monitoring point using GPS and attitude sensor based motion control algorithm. The experimental results show that the system realizes the automatic real-time monitoring of the lake water quality to satisfy the practical application requirements.