Underwater acoustic communication method, device, equipment and storage medium

Abstract

The present application discloses an underwater acoustic communication method, apparatus, device, and storage medium, relating to the field of communication technology. The method comprises: obtaining a transmission request message broadcast by a sending node via a control channel; performing a quality estimation on available data channels based on the transmission request message, screening a target data channel based on the quality estimation result to determine a data transmission scheme containing the target data channel sequence number, and then performing a backoff operation based on the length of a local queue of pending data; if the backoff operation is successfully completed, sending a reply message containing the data transmission scheme to the sending node via the control channel; if the reply message is the first reply message received by the sending node corresponding to the transmission request message, obtaining a data packet to be relayed sent by the sending node via the target data channel. The present application improves channel utilization and improves the channel quality of the data channel used for data relay by screening the target data channel, thereby resolving data conflicts caused by an unknown next hop.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to an underwater acoustic communication method, device, equipment and storage medium. Background Art

[0002] The existing MAC (Medium Access Control) protocol based on geographic routing protocol awareness is called GOAL-MAC. It integrates technologies such as an adaptive system based on a request-response model, geographic network carrier awareness, and implicit ACK (Acknowledge character). Geographic routing protocols do not require a dedicated route discovery process. Instead, they forward messages based on the location of the node and usually send data based on broadcast. There is a high possibility of selecting multiple nodes as the next hop. If all these next-hop candidate nodes relay data packets, serious data conflicts will result. Existing media access control protocols are mostly designed based on the situation where the next hop node is known, and are not suitable for geographic routing protocols where the next hop is unknown.

[0003] The GOAL-MAC protocol uses adaptive handshaking to map neighboring nodes' data transmission times onto its own timeline, thus avoiding node conflicts through time scheduling. However, in large-scale, long-distance underwater acoustic communication networks, increased propagation delays lead to reduced inter-node variability, smaller backoff time gaps, increased handshake control packet conflicts, and reduced network performance. Furthermore, to avoid data conflicts, GOAL-MAC's time scheduling uses extreme time mapping, which adds a long protection delay and, consequently, increases node queuing delays during communication. Summary of the Invention

[0004] In light of this, the present invention aims to provide an underwater acoustic communication method, apparatus, device, and storage medium that separates control and data channels, improving channel utilization. Furthermore, when selecting the next hop, the method considers channel quality and the length of the local queue for pending data, resolving data conflicts caused by an unknown next hop and further improving network performance. The specific solution is as follows:

[0005] In a first aspect, the present application provides an underwater acoustic communication method, applied to a receiving node, comprising:

[0006] Acquire a transmission request message broadcast by a sending node through a control channel; the transmission request message includes an available data channel number and a channel quality estimation parameter of the sending node;

[0007] performing channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter to obtain a corresponding channel quality estimation result;

[0008] screening a target data channel from the data channels corresponding to the available data channel sequence numbers based on the channel quality estimation result, determining a data transmission scheme including the channel sequence number of the target data channel, and then performing a backoff operation based on a length of a local queue of pending data;

[0009] If the backoff operation is successfully completed, sending a reply message including the data transmission plan to the sending node through the control channel;

[0010] If the reply message is the first reply message received by the sending node and corresponding to the transmission request message, the data packet to be relayed sent by the sending node through the target data channel is obtained and data relay is performed.

[0011] Optionally, after obtaining the transmission request message broadcast by the sending node through the control channel, the method further includes:

[0012] Determine whether it has the authority to forward the data packet to be relayed according to the preset data forwarding authority judgment rule;

[0013] If the authority to forward the data packet to be relayed is possessed, triggering a channel quality estimation operation is allowed to perform a channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter;

[0014] If the authority to forward the data packet to be relayed is not possessed, triggering the channel quality estimation operation is prohibited.

[0015] Optionally, obtaining a transmission request message broadcast by the sending node through a control channel includes:

[0016] Obtain a transmission request message generated by a sending node based on its own current available data channel sequence number and currently collected channel quality estimation parameters and broadcasted through a control channel; the channel quality estimation parameters include current underwater environment information detected by the sending node, node position information, and the data size of the data packet to be relayed.

[0017] Optionally, performing a backoff operation based on a local queue length of data to be processed includes:

[0018] Determine the local signal-to-noise ratio using the current underwater environmental noise, signal transmission power, and signal propagation loss detected locally;

[0019] Determining a timing length of a backoff timer based on a local queue length of data to be processed and a local signal-to-noise ratio;

[0020] The backoff timer is started to perform a backoff operation, and it is determined whether a reply message corresponding to the transmission request message sent by other receiving nodes is monitored within the timing duration. If so, the backoff operation is terminated.

[0021] Optionally, after terminating the backoff operation if detected, the method further includes:

[0022] The data channel allocated to the sending node by the other receiving nodes in the monitored reply message is marked as unavailable.

[0023] Optionally, after obtaining the data packet to be relayed sent by the sending node through the target data channel, the method further includes:

[0024] generating flag information for indicating that the data packet to be relayed has been received, and marking the target data channel as being in an available state;

[0025] Create a new transmission request message containing the flag information, its own current available data channel sequence number and the currently collected channel quality estimation parameter, and broadcast the new transmission request message through the control channel so as to perform next-hop data relay based on the new transmission request message.

[0026] In a second aspect, the present application provides an underwater acoustic communication method, applied to a sending node, comprising:

[0027] Generate a transmission request message including the sequence number of its own available data channel and channel quality estimation parameters;

[0028] broadcasting the transmission request message through a control channel so that, after receiving the transmission request message, a receiving node performs a channel quality estimation on a data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter, and filters a target data channel from the data channels corresponding to the available data channel sequence number based on the channel quality estimation result, so as to determine a data transmission scheme including the channel sequence number of the target data channel, and then performs a backoff operation based on a length of a local queue of pending data;

[0029] Obtaining a reply message including the respective data transmission scheme sent by each receiving node through the control channel after the backoff operation of the receiving node is successfully completed;

[0030] Determine the first received reply message from all received reply messages to obtain the target reply message, and send the data packet to be relayed to the target receiving node corresponding to the target reply message through the target data channel recorded in the target reply message, so that the target receiving node relays the data packet to be relayed.

[0031] In a third aspect, the present application provides an underwater acoustic communication device, applied to a receiving node, comprising:

[0032] A message acquisition module, configured to acquire a transmission request message broadcast by a sending node via a control channel; the transmission request message includes an available data channel number and a channel quality estimation parameter of the sending node;

[0033] a channel quality estimation module, configured to perform channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter to obtain a corresponding channel quality estimation result;

[0034] a channel screening module, configured to screen a target data channel from the data channels corresponding to the available data channel sequence numbers based on the channel quality estimation result, determine a data transmission scheme including the channel sequence number of the target data channel, and then perform a backoff operation based on the length of a local queue of pending data;

[0035] a message sending module, configured to send a reply message including the data transmission plan to the sending node via the control channel when the backoff operation is successfully completed;

[0036] The data relay module is used to obtain the data packet to be relayed sent by the sending node through the target data channel and perform data relay when the reply message is the first reply message received by the sending node and corresponds to the transmission request message.

[0037] In a fourth aspect, the present application provides an underwater acoustic communication device, applied to a sending node, comprising:

[0038] A message generation module, configured to generate a transmission request message including a sequence number of an available data channel and a channel quality estimation parameter;

[0039] a message broadcast module, configured to broadcast the transmission request message via a control channel, so that upon receiving the transmission request message, a receiving node performs a channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter, and screens a target data channel from the data channels corresponding to the available data channel sequence number based on the channel quality estimation result, so as to determine a data transmission scheme including the channel sequence number of the target data channel, and then performs a backoff operation based on the length of a local queue of pending data;

[0040] a message acquisition module, configured to acquire a reply message including the respective data transmission scheme, which is sent by each receiving node through the control channel after the backoff operation of the receiving node is successfully completed;

[0041] A data packet sending module is used to determine the first received reply message from all received reply messages to obtain a target reply message, and send the data packet to be relayed to the target receiving node corresponding to the target reply message through the target data channel recorded in the target reply message, so that the target receiving node relays the data packet to be relayed.

[0042] In a fifth aspect, the present application provides an electronic device, comprising:

[0043] Memory, used to store computer programs;

[0044] A processor is used to execute the computer program to implement the aforementioned underwater acoustic communication method.

[0045] In a sixth aspect, the present application provides a computer-readable storage medium for storing a computer program, which implements the aforementioned underwater acoustic communication method when executed by a processor.

[0046] In the present application, a transmission request message broadcast by a sending node through a control channel is obtained; the transmission request message contains the available data channel sequence number and channel quality estimation parameters of the sending node; based on the channel quality estimation parameters, channel quality estimation is performed on the data channel corresponding to the available data channel sequence number to obtain a corresponding channel quality estimation result; based on the channel quality estimation result, a target data channel is screened out from the data channels corresponding to the available data channel sequence number to determine a data transmission scheme including the channel sequence number of the target data channel, and then a backoff operation is performed based on the length of the local queue of pending data; if the backoff operation is successfully completed, a reply message containing the data transmission scheme is sent to the sending node through the control channel; if the reply message is the first reply message received by the sending node corresponding to the transmission request message, the data packet to be relayed sent by the sending node through the target data channel is obtained and data relay is performed. It can be seen that the present application divides the channel into a control channel and a data channel, uses the control channel to transmit control packets and uses the data channel to transmit data packets, and uses the available data channel of the sending node, thereby reducing the backoff delay caused by the traditional handshake in the time scheduling process and improving data concurrency and channel utilization. In addition, the present application takes the channel quality into consideration in the process of screening the target data channel, further improving the channel quality of the data channel used for data relay, and then improves the original backoff operation by using the length of the local queue of pending data, avoiding the problem of network congestion caused by the presence of a large amount of pending data in the waiting queue of the receiving node, and alleviating the problem of multiple sending nodes selecting the same receiving node for data relay when only considering the current node position. In addition, the sending node in the present application solves the data conflict caused by the unknown next hop by determining the sender of the first received reply message corresponding to the transmission request message as the next hop, further improving the network performance and achieving more efficient underwater acoustic communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0048] Figure 1 This is a flow chart of an underwater acoustic communication method disclosed in this application;

[0049] Figure 2 A schematic diagram of channel allocation disclosed in this application;

[0050] Figure 3 This is a flow chart of a specific underwater acoustic communication method disclosed in this application;

[0051] Figure 4 A schematic diagram of a backoff operation disclosed in this application;

[0052] Figure 5 This is a flow chart of an underwater acoustic communication method disclosed in this application;

[0053] Figure 6 This is a flow chart of underwater acoustic communication disclosed in this application;

[0054] Figure 7 This is a schematic structural diagram of an underwater acoustic communication device disclosed in this application;

[0055] Figure 8 This is a schematic structural diagram of an underwater acoustic communication device disclosed in this application;

[0056] Figure 9 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0058] In the prior art, geographic routing protocols forward messages based on the location of nodes, and usually send data based on broadcast. There is a high possibility of selecting multiple nodes as the next hop. If all these next-hop candidate nodes relay data packets, serious data conflicts will result. However, most existing media access control protocols are designed based on the situation where the next-hop node is known, and are not suitable for geographic routing protocols where the next hop is unknown. To this end, the present application provides an underwater acoustic communication method that can separate the control channel and the data channel to improve channel utilization, and when selecting the next hop, it takes into account the channel quality and the length of the local queue for data to be processed, improves the original backoff scheme, solves the data conflict caused by the unknown next hop, and further improves the network performance.

[0059] See also Figure 1 As shown, an embodiment of the present invention discloses an underwater acoustic communication method, which is applied to a receiving node, including:

[0060] Step S11: Acquire a transmission request message broadcast by a sending node through a control channel; the transmission request message includes an available data channel number and a channel quality estimation parameter of the sending node.

[0061] In this embodiment, the channel is first divided into a control channel and multiple data channels, such as Figure 2 As shown, the control channel is used to transmit control packets, and the data channel is used to transmit data packets. This improves data concurrency and channel utilization. Furthermore, the sending node senses the data channels occupied by its neighboring nodes and records the sequence numbers of these unavailable data channels to obtain the current available data channel sequence number of the sending node, and uses underwater sensors to collect the current channel quality estimation parameters of the sending node. Then, a transmission request message containing its own current available data channel sequence number and the currently collected channel quality estimation parameters is generated, and the above transmission request message is broadcasted through the control channel. The sending node can be the first sending node or the receiving node that has completed data relay; the above channel quality estimation parameters include the current underwater environment information detected by the sending node, the node location information, and the data size of the data packet to be relayed. In this way, by marking the available data channels, the problem of network congestion caused by selecting unavailable data channels in the subsequent data relay process is avoided.

[0062] In this embodiment, after obtaining the transmission request message broadcast by the sending node via the control channel, the process may further include determining whether the sending node has permission to forward the data packet to be relayed based on a preset data forwarding authority determination rule. If the sending node has permission to forward the data packet to be relayed, triggering a channel quality estimation operation is permitted to perform channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter. If the sending node does not have permission to forward the data packet to be relayed, triggering the channel quality estimation operation is prohibited. It is understood that in a geographic routing protocol, all neighboring nodes of the current sending node may become next-hop nodes. When a neighboring node receives a transmission request message, it first determines whether it has permission to forward the data packet to be relayed based on the preset data forwarding authority determination rule. In this case, one scenario is that the node does not consider the information carried in the transmission request message and determines whether it is eligible to forward the data packet to be relayed based on the routing policy. If it is eligible, the node obtains the available data channel sequence number and channel quality estimation parameter of the current sending node from the transmission request message. If it is not eligible, parsing the transmission request message is prohibited. Another situation is that it is necessary to use the channel quality estimation parameters in the obtained transmission request message. For example, by judging the data size of the data packet to be relayed in the channel quality estimation parameters, it is determined whether it has sufficient storage space to save the data packet to be relayed. If so, it has the authority to forward the data packet to be relayed and is allowed to trigger the channel quality estimation operation to perform channel quality estimation on the data channel corresponding to the available data channel sequence number in the transmission request message based on the above channel quality estimation parameters; if not, it does not have the authority to forward the data packet to be relayed and is prohibited from triggering the above channel quality estimation operation.

[0063] Step S12: performing channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter to obtain a corresponding channel quality estimation result.

[0064] In this embodiment, after obtaining the available data channel sequence number and channel quality estimation parameters in the transmission request message, the channel quality of the data channel corresponding to the available data channel sequence number is estimated based on the ray theory model to obtain the channel quality corresponding to each available data channel. It should be noted that the channel quality at this time must not only take into account the current underwater environment information detected by the sending node, the node position information, and the data size of the data packet to be relayed, but also the current underwater environment noise and signal transmission power collected by the receiving node. Among them, this application uses ray theory to simulate sound line propagation, and the three-dimensional wave equation of small amplitude sound waves is:

[0065]

[0066] Where c represents the speed of sound, ψ represents the sound pressure, It is calculated as the Laplacian operator:

[0067]

[0068] Considering the simple harmonic process, the wave equation can be transformed into the Helmholtz equation:

[0069]

[0070] Here, n represents the refractive index, k0=ω / c0 represents the wave number, and ω represents the angular velocity.

[0071] In ray theory, the solution to the wave equation can be expressed as follows:

[0072]

[0073] Where A(x, y, z) represents the amplitude function and s(x, y, z) represents the phase function. Substituting the above equation into the Helmholtz equation and separating the real and imaginary parts, we can obtain the eikonal equation that determines the trajectory of the sound ray and the intensity equation that determines the intensity of the sound ray:

[0074]

[0075]

[0076] The propagation loss is predicted based on the sound pressure results as: TL = 10lg|ψ2|;

[0077] Finally, the signal-to-noise ratio is estimated to be:

[0078] Among them, P s represents the transmit power, N(f) represents the ambient noise, and f represents the transmit frequency. Underwater nodes typically carry various sensors, such as CTD (Conductivity-Temperature-Depth) sensors, TD (Temperature-Depth) sensors, and current meters. These sensors can provide information about the ocean environment and various parameters required to determine the signal-to-noise ratio. For example, CTD sensors can continuously measure parameters such as temperature, conductivity, pressure, salinity, depth, density, and sound speed in real time. Based on the collected current underwater environment information, node location information, and the calculated signal-to-noise ratio, the propagation model can be used to estimate the channel quality of each available data channel.

[0079] Step S13: Filter out a target data channel from the data channels corresponding to the available data channel sequence numbers based on the channel quality estimation result to determine a data transmission scheme including the channel sequence number of the target data channel, and then perform a backoff operation based on the length of the local queue of data to be processed.

[0080] In this embodiment, after estimating the channel quality corresponding to each available data channel, the target data channel is screened out, and a data transmission scheme containing the channel sequence number of the target data channel is determined. In this way, the channel quality of the data channel used for data relay is improved by screening the target data channel. After the data transmission scheme is determined, the potential relay node begins to back off. It should be noted that, in general, the adaptive fallback scheme of the geographic routing protocol only focuses on the geographic location and energy consumption, which may cause the control message in the MAC protocol to conflict due to similar distance information. In the backoff mechanism of the present application, in addition to considering the original adaptive scheme of the routing, node fairness and communication conditions are also considered. If there is a large amount of data to be processed in the waiting queue of a receiving node, it is easy to cause network congestion when the data packet to be relayed enters the receiving node. Therefore, the receiving node is not suitable as the next hop. In this way, by screening out the target data channel from the available data channels, not only can the channel quality of the data channel used for data relay be improved, but also the reservation and allocation of data channels can be realized, thereby improving the performance of data relay. Moreover, by performing a backoff operation based on the length of the local queue of pending data, the problem of network congestion caused by a large amount of pending data in the waiting queue of the receiving node is avoided.

[0081] Step S14: If the backoff operation is successfully completed, a reply message including the data transmission plan is sent to the sending node through the control channel.

[0082] In this embodiment, when the backoff timer expires, the receiving node sends a reply message containing a data transmission plan to the sending node via the control channel. It should be noted that during this process, a receiving node may complete the backoff operation before receiving a reply message corresponding to a transmission request message sent by another receiving node. Therefore, it may also send a reply message corresponding to the transmission request message to the sending node. In this case, the sending node may receive reply messages containing respective data transmission plans from multiple receiving nodes simultaneously or within a very short period of time.

[0083] Step S15: If the reply message is the first reply message received by the sending node and corresponding to the transmission request message, obtain the data packet to be relayed sent by the sending node through the target data channel and perform data relay.

[0084] In this embodiment, when a sending node receives multiple reply messages corresponding to a transmission request message, it determines the sender of the first reply message received as the next receiving node. This resolves data conflicts caused by an unknown next hop and further improves network performance. The sending node then transmits the data packet to be relayed via the target data channel in the data transmission scheme. Simultaneously, the receiving node receives the data packet to be relayed and relays it.

[0085] In this embodiment, after obtaining the data packet to be relayed sent by the sending node via the target data channel, the process may further include generating flag information indicating that the data packet to be relayed has been received and marking the target data channel as available; creating a new transmission request message containing the flag information, the current available data channel sequence number, and the currently collected channel quality estimation parameters; and broadcasting the new transmission request message via the control channel to perform next-hop data relay based on the new transmission request message. It should be noted that after completing data relay, the receiving node needs to confirm to the sending node that its data packet to be relayed has been successfully received. Generally, the receiving node needs to send an ACK message to confirm receipt of the data. ACK stands for "acknowledgement character." In data communications, a transmission control character sent by a receiving station to a sending station indicates that the data has been received correctly. To reduce control message conflicts, the present application employs an implicit acknowledgment scheme. Furthermore, after receiving the data packet to be relayed from the sending node and performing data relay, the receiving node marks the target data channel as available and broadcasts a new transmission request message via the control channel. The new transmission request message contains flag information indicating that the data packet to be relayed has been received, the current available data channel number, and the currently collected channel quality estimation parameters. When the sending node hears the new transmission request message, it can confirm that its own data packet to be relayed has been successfully received. When other neighboring nodes of the receiving node hear the new transmission request message, it indicates that the target data channel between the receiving node and the sending node can be released. However, the final destination node in the data relay process still uses a display ACK message for reply confirmation. It should be noted that the receiving node at this time is the new sending node. After hearing the new transmission request message, the next receiving node corresponding to the new sending node will perform next-hop data relay based on the new transmission request message. In this way, by broadcasting a new transmission request message, the sending node can confirm that its own data packet to be relayed has been successfully received, reducing the problem of control message conflicts caused by the use of ACK confirmation messages.

[0086] It can be seen that the present application divides the channel into a control channel and a data channel, uses the control channel to transmit control packets and uses the data channel to transmit data packets, and uses the available data channel of the sending node, thereby reducing the backoff delay caused by the traditional handshake in the time scheduling process and improving data concurrency and channel utilization. In addition, the present application takes the channel quality into consideration in the process of screening the target data channel, further improving the channel quality of the data channel used for data relay, and then improves the original backoff operation by using the length of the local queue of pending data, avoiding the problem of network congestion caused by the presence of a large amount of pending data in the waiting queue of the receiving node, and alleviating the problem of multiple sending nodes selecting the same receiving node for data relay when only considering the current node position. In addition, the sending node in the present application solves the data conflict caused by the unknown next hop by determining the sender of the first received reply message corresponding to the transmission request message as the next hop, further improving the network performance and achieving more efficient underwater acoustic communication.

[0087] Based on the previous embodiment, the present application avoids using only the current node position for backoff operation and improves the original backoff scheme. To this end, the present application then describes in detail how to perform backoff operation based on the length of the local queue of data to be processed. Figure 3 As shown, an embodiment of the present invention discloses a backoff operation execution process, which is applied to a receiving node and includes:

[0088] Step S21: Determine the local signal-to-noise ratio using the current underwater environmental noise, signal transmission power, and signal propagation loss detected locally.

[0089] In this embodiment, when calculating the local signal-to-noise ratio, the receiving node needs to first collect the local current underwater environmental noise, signal transmission power, and signal propagation loss. The calculation formula of the signal-to-noise ratio is as follows:

[0090]

[0091] Among them, P s represents the signal transmission power, N(f) represents the current underwater environmental noise, f represents the signal transmission frequency, and TL represents the signal propagation loss. It should be noted that although the calculation formula for this signal propagation loss is the same as that used in the channel quality estimation operation, this signal propagation loss takes into account more of the underwater environmental information and location information around the receiving node. The signal propagation loss in the channel quality estimation operation needs to consider not only the underwater environmental information and location information around the receiving node, but also the underwater environmental information and location information around the sending node.

[0092] Step S22: Determine the timing length of the backoff timer based on the length of the local queue of data to be processed and the local signal-to-noise ratio.

[0093] In this embodiment, after obtaining the local signal-to-noise ratio, the backoff timer duration is determined based on the length of the local queue of pending data and the local signal-to-noise ratio. The backoff duration calculation formula is as follows:

[0094]

[0095] Among them, l q Indicates the length of the local queue for pending data, SNR indicates the local signal-to-noise ratio, and T0 indicates the original backoff duration in the traditional routing protocol. It is understandable that the longer the length of the local queue for pending data, the longer the backoff timer will be. Therefore, if a receiving node has a large amount of pending data in its waiting queue, it is more likely to cause network congestion after the data packet to be relayed comes in, which also indicates that the receiving node is not suitable as the next hop. If only the current node position is considered, due to the similarity of distance information, it is easy for multiple sending nodes to choose the same receiving node for data relay, which in turn causes data conflict problems. By determining the backoff timer duration based on the local queue for pending data and the local signal-to-noise ratio, the original backoff algorithm is improved, which can further amplify the differences between nodes and avoid network congestion problems.

[0096] Step S23: Start the backoff timer to perform the backoff operation, and determine whether a reply message corresponding to the transmission request message sent by other receiving nodes is monitored within the timing duration. If so, terminate the backoff operation.

[0097] In this embodiment, it is determined whether a reply message corresponding to the transmission request message sent by other receiving nodes to the sending node is monitored during the backoff operation. If not, a reply message corresponding to the transmission request message is sent to the sending node when the backoff timer stops. If a reply message is monitored, it indicates that there is a receiving node in the network that is better than itself, that is, the channel quality of the target data channel may be better or the length of the local queue of data to be processed may be shorter, and then the backoff operation is terminated. Figure 4 As shown in the figure, after sending node A sends a transmission request message (RTS), receiving nodes C and D both select the data channel with the best channel quality as their data transmission solution based on the channel prediction model and then begin backoff operations. If receiving node C completes the backoff operation first during the backoff process, it will send a reply message corresponding to the transmission request message to sending node A. After receiving node D hears the reply message sent by receiving node C, it terminates the backoff operation.

[0098] Step S24: Mark the data channel allocated to the sending node by the other receiving nodes in the monitored reply message as unavailable.

[0099] In this embodiment, after the backoff operation is terminated, in order to avoid interfering with data reception by other receiving nodes, the data channel allocated to the sending node by other receiving nodes in the monitored reply message is temporarily marked as unavailable. If it is not marked as unavailable, there may be other sending nodes also transmitting data through the data channel at the same time, which may lead to data conflicts. For example, receiving node C first ends the backoff operation and then sends a reply message containing a data transmission plan to sending node A. When receiving node D monitors this reply message, the backoff operation is terminated. After other neighboring nodes of receiving node C monitor the reply message, they temporarily mark the data channel allocated by receiving node C to sending node A as unavailable.

[0100] It can be seen that the present application avoids the problem of network congestion caused by the presence of a large amount of pending data in the waiting queue of the receiving node by determining the timing duration of the backoff timer based on the local queue length of pending data and the local signal-to-noise ratio, and alleviates the problem of multiple sending nodes selecting the same receiving node for data relay when only considering the current node position. In addition, the present application avoids interfering with data reception of other receiving nodes by marking the data channel allocated to the sending node by other receiving nodes in the monitored reply message as unavailable, thereby further improving network performance and achieving more efficient underwater acoustic communication.

[0101] See also Figure 5 As shown, an embodiment of the present invention discloses an underwater acoustic communication method, which is applied to a sending node, including:

[0102] Step S31: Generate a transmission request message including the sequence number of its own available data channel and channel quality estimation parameters.

[0103] Step S32: broadcast the transmission request message through the control channel so that after receiving the transmission request message, the receiving node performs channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter, and filters out the target data channel from the data channels corresponding to the available data channel sequence number based on the channel quality estimation result to determine the data transmission scheme including the channel sequence number of the target data channel, and then performs a backoff operation based on the length of the local queue of data to be processed.

[0104] Step S33: Acquire a reply message including the respective data transmission scheme sent by each receiving node through the control channel after the backoff operation of the receiving node is successfully completed.

[0105] Step S34: determine the first received reply message from all received reply messages to obtain the target reply message, and send the data packet to be relayed to the target receiving node corresponding to the target reply message through the target data channel recorded in the target reply message, so that the target receiving node relays the data packet to be relayed.

[0106] In this embodiment, Figure 6As shown, a transmitting node broadcasts a transmission request message (RTS) containing its own available data channel sequence number and channel quality estimation parameters via a control channel. Receiving nodes 1, 2, and 3 each receive the RTS and then determine whether they have permission to forward the data packet to be relayed based on pre-set data forwarding authority judgment rules. If receiving node 2 does not have permission to forward the data packet to be relayed, triggering the channel quality estimation operation is prohibited. If receiving nodes 1 and 3 have permission to forward the data packet to be relayed, triggering the channel quality estimation operation allows them to perform a channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameters in the RTS transmission request message, obtaining a corresponding channel quality estimation result. Receiving nodes 1 and 3 then select the target data channel with the best quality from the data channels corresponding to the available data channel sequence number based on the channel quality estimation result, thereby determining a data transmission scheme that includes the channel sequence number of the target data channel. After determining the data transmission plan, receiving node 1 and receiving node 3 perform a backoff operation based on the length of the local queue of data to be processed; if the backoff operation of receiving node 3 is successfully completed, a reply message CTS (Clear To Send, i.e., allowing sending) containing the data transmission plan is sent to the sending node through the control channel; at the same time, after listening to the reply message CTS sent by receiving node 3, receiving node 1 terminates the backoff operation and marks the data channel allocated to the sending node by receiving node 3 in the reply message CTS as unavailable. When the reply message CTS sent by receiving node 3 is the first reply message CTS received by the sending node corresponding to the transmission request message, the sending node sends the data packet DATA to be relayed to receiving node 3 through the target data channel in the reply message CTS. After receiving node 3 obtains the data packet DATA to be relayed and relays the data packet DATA to be relayed, it generates flag information indicating that the data packet to be relayed has been successfully received and marks the target data channel as available. Then, a new transmission request message RTS is created, containing flag information, the sequence number of its own currently available data channel, and the currently collected channel quality estimation parameters. The new transmission request message RTS is broadcasted over the control channel. After the sending node hears the new transmission request message RTS, it can confirm that its data packet to be relayed has been successfully received. After the neighboring nodes of receiving node 3 hear the new transmission request message RTS, they can know that the target data channel between the sending node and receiving node 3 has been released. At the same time, receiving node 3 will act as the new sending node and broadcast a new transmission request message RTS over the control channel to relay data to the next hop based on the new transmission request message.

[0107] It can be seen that the present application divides the channel into a control channel and a data channel, uses the control channel to transmit control packets and uses the data channel to transmit data packets, and uses the available data channel of the sending node, thereby reducing the backoff delay caused by the traditional handshake in the time scheduling process and improving data concurrency and channel utilization. In addition, the present application takes the channel quality into consideration in the process of screening the target data channel, further improving the channel quality of the data channel used for data relay, and then improves the original backoff operation by using the length of the local queue of pending data, avoiding the problem of network congestion caused by the presence of a large amount of pending data in the waiting queue of the receiving node, and alleviating the problem of multiple sending nodes selecting the same receiving node for data relay when only considering the current node position. In addition, the sending node in the present application solves the data conflict caused by the unknown next hop by determining the sender of the first received reply message corresponding to the transmission request message as the next hop, further improving the network performance and achieving more efficient underwater acoustic communication.

[0108] See also Figure 7 As shown, an embodiment of the present invention discloses an underwater acoustic communication device, which is applied to a receiving node, including:

[0109] The message acquisition module 11 is used to acquire a transmission request message broadcast by a sending node through a control channel; the transmission request message includes an available data channel number and a channel quality estimation parameter of the sending node;

[0110] a channel quality estimation module 12, configured to perform channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter to obtain a corresponding channel quality estimation result;

[0111] a channel screening module 13, configured to screen a target data channel from the data channels corresponding to the available data channel sequence numbers based on the channel quality estimation result, determine a data transmission scheme including the channel sequence number of the target data channel, and then perform a backoff operation based on the length of a local queue of pending data;

[0112] a message sending module 14, configured to send a reply message including the data transmission plan to the sending node via the control channel when the backoff operation is successfully completed;

[0113] The data relay module 15 is configured to obtain the data packet to be relayed sent by the sending node through the target data channel and perform data relay when the reply message is the first reply message received by the sending node and corresponds to the transmission request message.

[0114] It can be seen that the present application divides the channel into a control channel and a data channel, uses the control channel to transmit control packets and uses the data channel to transmit data packets, and uses the available data channel of the sending node, thereby reducing the backoff delay caused by the traditional handshake in the time scheduling process and improving data concurrency and channel utilization. In addition, the present application takes the channel quality into consideration in the process of screening the target data channel, further improving the channel quality of the data channel used for data relay, and then improves the original backoff operation by using the length of the local queue of pending data, avoiding the problem of network congestion caused by the presence of a large amount of pending data in the waiting queue of the receiving node, and alleviating the problem of multiple sending nodes selecting the same receiving node for data relay when only considering the current node position. In addition, the sending node in the present application solves the data conflict caused by the unknown next hop by determining the sender of the first received reply message corresponding to the transmission request message as the next hop, further improving the network performance and achieving more efficient underwater acoustic communication.

[0115] In some specific embodiments, after the message acquisition module 11, the following steps may also be included:

[0116] An authority judgment unit, configured to determine whether it has the authority to forward the data packet to be relayed according to a preset data forwarding authority judgment rule;

[0117] an operation triggering unit, configured to allow triggering a channel quality estimation operation when having authority to forward the data packet to be relayed, so as to perform channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter;

[0118] The operation prohibition unit is configured to prohibit triggering the channel quality estimation operation when the unit does not have the authority to forward the data packet to be relayed.

[0119] In some specific embodiments, the message acquisition module 11 may specifically include:

[0120] A message acquisition unit is used to obtain a transmission request message generated by a sending node based on its own current available data channel sequence number and currently collected channel quality estimation parameters and broadcast through a control channel; the channel quality estimation parameters include the current underwater environment information detected by the sending node, node position information and the data size of the data packet to be relayed.

[0121] In some specific embodiments, the channel screening module 13 may specifically include:

[0122] a signal-to-noise ratio determination unit, configured to determine a local signal-to-noise ratio using the current underwater environmental noise, signal transmission power, and signal propagation loss detected locally;

[0123] a duration determining unit, configured to determine a timing duration of a backoff timer based on a length of a local queue of data to be processed and a local signal-to-noise ratio;

[0124] The message monitoring judgment unit is used to start the backoff timer to perform the backoff operation, and judge whether a reply message corresponding to the transmission request message sent by other receiving nodes is monitored within the timing period, and if so, terminate the backoff operation.

[0125] In some specific embodiments, after the message monitoring and judging unit, the following may be included:

[0126] The first state marking unit is configured to mark the data channel allocated to the sending node by the other receiving nodes in the monitored reply message as unavailable.

[0127] In some specific embodiments, after the data relay module 15, the following may also be included:

[0128] a flag information generating unit, configured to generate flag information indicating that the data packet to be relayed has been received;

[0129] A second state marking unit, configured to mark the target data channel as being in an available state;

[0130] A message creation unit, configured to create a new transmission request message including the flag information, the sequence number of the currently available data channel and the currently collected channel quality estimation parameter;

[0131] The data relay unit is configured to broadcast the new transmission request message through the control channel so as to perform next-hop data relay based on the new transmission request message.

[0132] See also Figure 8 As shown, an embodiment of the present invention discloses an underwater acoustic communication device, which is applied to a sending node, including:

[0133] The message generation module 21 is used to generate a transmission request message including the sequence number of its own available data channel and the channel quality estimation parameter;

[0134] a message broadcast module 22, configured to broadcast the transmission request message via a control channel, so that upon receiving the transmission request message, a receiving node performs a channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter, and screens a target data channel from the data channels corresponding to the available data channel sequence number based on the channel quality estimation result, so as to determine a data transmission scheme including the channel sequence number of the target data channel, and then performs a backoff operation based on the length of a local queue of pending data;

[0135] a message acquisition module 23, configured to acquire a reply message including the respective data transmission scheme sent by each receiving node through the control channel after the backoff operation of the receiving node is successfully completed;

[0136] The data packet sending module 24 is used to determine the first received reply message from all received reply messages to obtain a target reply message, and send the data packet to be relayed to the target receiving node corresponding to the target reply message through the target data channel recorded in the target reply message, so that the target receiving node relays the data packet to be relayed.

[0137] Among them, for more specific working processes of the above modules, please refer to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.

[0138] It can be seen that the present application divides the channel into a control channel and a data channel, uses the control channel to transmit control packets and uses the data channel to transmit data packets, and uses the available data channel of the sending node, thereby reducing the backoff delay caused by the traditional handshake in the time scheduling process and improving data concurrency and channel utilization. In addition, the present application takes the channel quality into consideration in the process of screening the target data channel, further improving the channel quality of the data channel used for data relay, and then improves the original backoff operation by using the length of the local queue of pending data, avoiding the problem of network congestion caused by the presence of a large amount of pending data in the waiting queue of the receiving node, and alleviating the problem of multiple sending nodes selecting the same receiving node for data relay when only considering the current node position. In addition, the sending node in the present application solves the data conflict caused by the unknown next hop by determining the sender of the first received reply message corresponding to the transmission request message as the next hop, further improving the network performance and achieving more efficient underwater acoustic communication.

[0139] Furthermore, the embodiment of the present application also discloses an electronic device, Figure 9 This is a structural diagram of an electronic device 30 according to an exemplary embodiment. The content in the diagram cannot be considered as any limitation to the scope of use of the present application.

[0140] Figure 9This is a schematic diagram of the structure of an electronic device 30 provided in an embodiment of the present application. The electronic device 30 may include: at least one processor 31, at least one memory 32, a power supply 33, a communication interface 34, an input / output interface 35, a sensor 36, and a communication bus 37. The memory 32 is used to store a computer program, which is loaded and executed by the processor 31 to implement the relevant steps of the underwater acoustic communication method disclosed in any of the aforementioned embodiments. Furthermore, the electronic device 30 in this embodiment may specifically be an electronic computer.

[0141] In this embodiment, the power supply 33 is used to provide operating voltage for each hardware device on the electronic device 30; the communication interface 34 can create a data transmission channel between the electronic device 30 and the external device. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 35 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here; the sensor 36 is used to detect various ocean information.

[0142] In addition, the memory 32, as a carrier for resource storage, can be a read-only memory, random access memory, disk or CD, etc. The resources stored thereon can include an operating system 321, a computer program 322, etc., and the storage method can be temporary storage or permanent storage.

[0143] The operating system 321 is used to manage and control the hardware devices and computer programs 322 on the electronic device 30. The operating system 321 can be Windows Server, NetWare, Unix, Linux, etc. In addition to including computer programs capable of implementing the underwater acoustic communication method performed by the electronic device 30 disclosed in any of the aforementioned embodiments, the computer programs 322 can further include computer programs capable of implementing other specific tasks.

[0144] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when executed by a processor, the computer program implements the aforementioned underwater acoustic communication method. The specific steps of this method can be referred to the corresponding contents disclosed in the aforementioned embodiments and will not be repeated here.

[0145] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[0146] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0147] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0148] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0149] The above is a detailed introduction to the technical solution provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An underwater acoustic communication method, characterized in that: Applied to receiving nodes, including: Acquire a transmission request message broadcast by a sending node through a control channel; the transmission request message includes an available data channel number and a channel quality estimation parameter of the sending node; The step of obtaining a transmission request message broadcasted by a sending node through a control channel includes: obtaining a transmission request message generated by the sending node based on a currently available data channel number and currently collected channel quality estimation parameters and broadcasted through the control channel; the channel quality estimation parameters include current underwater environment information detected by the sending node, node location information, and a data size of a data packet to be relayed; performing channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter to obtain a corresponding channel quality estimation result; The channel quality estimation parameter performs channel quality estimation on the data channel corresponding to the available data channel sequence number to obtain a corresponding channel quality estimation result, including: based on the current underwater environment information detected by the sending node, the node position information, and the calculated signal-to-noise ratio, using a propagation model to perform channel quality estimation on the data channel corresponding to the available data channel sequence number to obtain the channel quality corresponding to each available data channel, wherein the signal-to-noise ratio is calculated by using the current underwater environment noise collected by the receiving node, the signal transmission power, and the signal propagation loss; screening a target data channel from the data channels corresponding to the available data channel sequence numbers based on the channel quality estimation result, determining a data transmission scheme including the channel sequence number of the target data channel, and then performing a backoff operation based on a length of a local queue of pending data; The performing of the backoff operation based on the length of the local queue of data to be processed includes: determining a timing length of a backoff timer based on the length of the local queue of data to be processed and the signal-to-noise ratio; starting the backoff timer to perform the backoff operation, and determining whether a reply message corresponding to the transmission request message sent by other receiving nodes is monitored within the timing length, and if so, terminating the backoff operation; If the backoff operation is successfully completed, sending a reply message including the data transmission plan to the sending node through the control channel; If the reply message is the first reply message received by the sending node corresponding to the transmission request message, then the data packet to be relayed sent by the sending node through the target data channel is obtained and data relay is performed, and the sending node of the first received reply message corresponding to the transmission request message is the next receiving node.

2. The underwater acoustic communication method according to claim 1, characterized in that: After acquiring the transmission request message broadcasted by the sending node through the control channel, the method further includes: Determine whether it has the authority to forward the data packet to be relayed according to the preset data forwarding authority judgment rule; If the authority to forward the data packet to be relayed is possessed, triggering a channel quality estimation operation is allowed to perform a channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter; If the authority to forward the data packet to be relayed is not possessed, triggering the channel quality estimation operation is prohibited.

3. The underwater acoustic communication method according to claim 1, wherein: After terminating the backoff operation if detected, the method further includes: The data channel allocated to the sending node by the other receiving nodes in the monitored reply message is marked as unavailable.

4. The underwater acoustic communication method according to any one of claims 1 to 3, characterized in that: After obtaining the data packet to be relayed sent by the sending node through the target data channel, the method further includes: generating flag information for indicating that the data packet to be relayed has been received, and marking the target data channel as being in an available state; Create a new transmission request message containing the flag information, its own current available data channel sequence number and the currently collected channel quality estimation parameter, and broadcast the new transmission request message through the control channel so as to perform next-hop data relay based on the new transmission request message.

5. An underwater acoustic communication method, characterized in that: Applicable to the sending node, including: Generate a transmission request message including the sequence number of its own available data channel and channel quality estimation parameters, wherein the channel quality estimation parameters include current underwater environment information detected by the sending node, node location information, and the data size of the data packet to be relayed; broadcasting the transmission request message through a control channel so that, after receiving the transmission request message, a receiving node performs a channel quality estimation on a data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter, and filters a target data channel from the data channels corresponding to the available data channel sequence number based on the channel quality estimation result, so as to determine a data transmission scheme including the channel sequence number of the target data channel, and then performs a backoff operation based on a length of a local queue of pending data; After receiving the transmission request message, the receiving node performs channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter, including: based on the current underwater environment information detected by the sending node, the node position information, and the calculated signal-to-noise ratio, using a propagation model to perform channel quality estimation on the data channel corresponding to the available data channel sequence number to obtain the channel quality corresponding to each available data channel, wherein the signal-to-noise ratio is calculated by collecting and detecting the current underwater environment noise, signal transmission power, and signal propagation loss at the receiving node; The performing of the backoff operation based on the length of the local queue of data to be processed includes: determining a timing length of a backoff timer based on the length of the local queue of data to be processed and the signal-to-noise ratio; starting the backoff timer to perform the backoff operation, and determining whether a reply message corresponding to the transmission request message sent by other receiving nodes is monitored within the timing length, and if so, terminating the backoff operation; Obtaining a reply message including the respective data transmission scheme sent by each receiving node through the control channel after the backoff operation of the receiving node is successfully completed; Determine the first received reply message from all received reply messages to obtain the target reply message, and send the data packet to be relayed to the target receiving node corresponding to the target reply message through the target data channel recorded in the target reply message, so that the target receiving node relays the data packet to be relayed, and the sending node of the first received reply message corresponding to the transmission request message is the next receiving node.

6. An underwater acoustic communication device, characterized in that: Applied to receiving nodes, including: A message acquisition module, configured to acquire a transmission request message broadcast by a sending node via a control channel; the transmission request message includes an available data channel number and a channel quality estimation parameter of the sending node; The message acquisition module is specifically configured to: acquire a transmission request message generated by the sending node based on its current available data channel sequence number and currently collected channel quality estimation parameters and broadcasted via the control channel; the channel quality estimation parameters include current underwater environment information detected by the sending node, node location information, and the data size of the data packet to be relayed; a channel quality estimation module, configured to perform channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter to obtain a corresponding channel quality estimation result; The channel quality estimation module is specifically configured to: perform channel quality estimation on the data channel corresponding to the available data channel sequence number using a propagation model based on the current underwater environment information detected by the sending node, the node position information, and the calculated signal-to-noise ratio, so as to obtain the channel quality corresponding to each available data channel, wherein the signal-to-noise ratio is calculated by using the current underwater environment noise collected by the receiving node, the signal transmission power, and the signal propagation loss; a channel screening module, configured to screen a target data channel from the data channels corresponding to the available data channel sequence numbers based on the channel quality estimation result, determine a data transmission scheme including the channel sequence number of the target data channel, and then perform a backoff operation based on the length of a local queue of pending data; The channel screening module is specifically configured to: determine a timing duration of a backoff timer based on a local queue length of data to be processed and the signal-to-noise ratio; start the backoff timer to perform a backoff operation, and determine whether a reply message corresponding to the transmission request message sent by another receiving node is monitored within the timing duration, and if so, terminate the backoff operation; a message sending module, configured to send a reply message including the data transmission plan to the sending node via the control channel when the backoff operation is successfully completed; A data relay module is used to obtain the data packet to be relayed sent by the sending node through the target data channel and perform data relay when the reply message is the first reply message received by the sending node corresponding to the transmission request message, and the sending node of the first received reply message corresponding to the transmission request message is the next receiving node.

7. An underwater acoustic communication device, characterized in that: Applicable to the sending node, including: a message generation module, configured to generate a transmission request message including a sequence number of an available data channel and a channel quality estimation parameter, wherein the channel quality estimation parameter includes current underwater environment information detected by the sending node, node location information, and the data size of the data packet to be relayed; a message broadcast module, configured to broadcast the transmission request message via a control channel, so that upon receiving the transmission request message, a receiving node performs a channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter, and screens a target data channel from the data channels corresponding to the available data channel sequence number based on the channel quality estimation result, so as to determine a data transmission scheme including the channel sequence number of the target data channel, and then performs a backoff operation based on the length of a local queue of pending data; After receiving the transmission request message, the receiving node performs channel quality estimation on the data channel corresponding to the available data channel sequence number based on the channel quality estimation parameter, including: based on the current underwater environment information detected by the sending node, the node position information, and the calculated signal-to-noise ratio, using a propagation model to perform channel quality estimation on the data channel corresponding to the available data channel sequence number to obtain the channel quality corresponding to each available data channel, wherein the signal-to-noise ratio is calculated by using the current underwater environment noise collected by the receiving node, the signal transmission power, and the signal propagation loss; The performing of the backoff operation based on the length of the local queue of data to be processed includes: determining a timing length of a backoff timer based on the length of the local queue of data to be processed and the signal-to-noise ratio; starting the backoff timer to perform the backoff operation, and determining whether a reply message corresponding to the transmission request message sent by other receiving nodes is monitored within the timing length, and if so, terminating the backoff operation; a message acquisition module, configured to acquire a reply message including the respective data transmission scheme, which is sent by each receiving node through the control channel after the backoff operation of the receiving node is successfully completed; A data packet sending module is used to determine the first received reply message from all received reply messages to obtain a target reply message, and send a data packet to be relayed to a target receiving node corresponding to the target reply message through the target data channel recorded in the target reply message, so that the target receiving node relays the data packet to be relayed, and the sending node of the first received reply message corresponding to the transmission request message is the next receiving node.

8. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the underwater acoustic communication method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that Used to store a computer program, which, when executed by a processor, implements the underwater acoustic communication method according to any one of claims 1 to 5.

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