“Significant progress has been made in research on underwater navigation. This study proposes a method for obtaining underwater vehicle attitude information using polarization distribution patterns, providing a new solution for underwater navigation. The research team installed fisheye lenses and polarization cameras on the carrier to capture underwater sky images and obtain polarization angle distribution patterns. Using a pinhole imaging model, camera parameters are calibrated, polarization angle distribution patterns are corrected for distortion, and the characteristic regions of the solar meridian are obtained. By using the Canny operator and the Hough line detection algorithm, the angle between the solar meridian and the underwater body axis is calculated to obtain the heading angle. To reduce measurement errors, the research team also established a functional relationship between the incident angle of light and the polarization angle error for error compensation. In addition, the grayscale threshold detection algorithm is used to screen the zenith point coordinates in the image, and then calculate the roll and pitch angles of the carrier. The experimental results show that the average absolute error of the heading angle obtained by this method is 0.5303 °, and the average absolute errors of the roll angle and pitch angle within the range of [-50 °, 50 °] are 0.7544 ° and 0.6213 °, respectively, which meet the accuracy requirements of underwater navigation. This study provides new ideas and methods for the development of underwater navigation technology, which is expected to provide strong support for autonomous navigation and intelligent control of underwater robots and other underwater vehicles.”