An integrated method for measurement and communication based on an underwater acoustic tomography system

Abstract

The present invention relates to an integrated measurement and communication method based on an underwater acoustic tomography system, the method comprising: a communication transmitting end obtains communication content and a flow rate monitoring signal, encodes and carrier modulates the communication content to generate a communication signal; and combines the communication signal with the flow rate monitoring signal to generate an integrated signal. Underwater acoustic tomography technology has been widely studied and applied at home and abroad, but there are few methods for using underwater acoustic tomography systems for flow rate monitoring and communication at the same time. Based on the underwater acoustic tomography system, the present invention adopts a new signal processing method, so that the underwater acoustic tomography system does not affect the original flow rate monitoring function while also having a communication function, fully utilizing the system hardware resources, and also improving the frequency band utilization. The present invention enables the underwater acoustic tomography system to have an underwater acoustic communication function while performing measurement tasks, saving system hardware space, fully utilizing the system hardware resources and bandwidth resources, and making the underwater acoustic tomography system more intelligent.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater acoustic measurement and communication, and in particular to a measurement and communication integration method based on an underwater acoustic tomography system. Background Art

[0002] Acoustic tomography technology can provide long-term, real-time, and high-precision flow velocity measurements over large areas of water and has been widely studied. Underwater acoustic tomography measures flow velocity using the difference in acoustic signal propagation time between upstream and downstream. The same processor must simultaneously obtain both propagation times to calculate the current flow velocity in real time. Current methods for underwater acoustic tomography systems to obtain real-time flow velocity include: using an external LoRa module to transmit signal propagation time data point-to-point; using an SD card to store signal data and later calculate flow velocity; and using an external 4G module to transmit data back to a database via 4G communication for resolution. These methods consume platform space, complicate the system, and are difficult to implement at sea when 4G signal strength is low.

[0003] Underwater acoustic tomography systems have a complete hardware foundation for transmitting and receiving acoustic signals, meeting the hardware requirements for underwater acoustic communications. However, existing underwater acoustic tomography systems are currently mainly used to measure hydrological parameters such as flow velocity in oceans, coastal areas, and rivers, and rarely involve the field of underwater acoustic communications. The system's hardware advantages and spectrum resources are not fully utilized. Summary of the Invention

[0004] In response to the problems existing in the above-mentioned prior art, the present invention provides an integrated measurement and communication method based on an underwater acoustic tomography system. This method enables the underwater acoustic tomography system to perform underwater acoustic communication functions while performing measurement tasks, thus saving system hardware space, making full use of system hardware resources and bandwidth resources, and making the underwater acoustic tomography system more intelligent.

[0005] The technical solution of the present invention is:

[0006] According to one aspect of the present invention, a measurement and communication integrated method based on an underwater acoustic tomography system is proposed, the method comprising:

[0007] The communication transmitting end obtains the communication content and the flow rate monitoring signal, encodes and modulates the communication content to generate a communication signal;

[0008] The communication signal is combined with the flow rate monitoring signal to generate an integrated signal.

[0009] In the aforementioned technical solutions, underwater acoustic tomography (UAT) technology has been widely researched and applied both domestically and internationally, but few methods have combined UATS systems for both flow velocity monitoring and communication. The present invention, based on the UATS system, redesigns its transmitted signals, innovatively enabling the system to incorporate communication capabilities without compromising its original flow velocity monitoring function. This increases the functionality of the UATS system, fully utilizes system hardware resources, and improves bandwidth utilization.

[0010] In some embodiments, encoding and carrier modulating the communication content to generate a communication signal specifically includes:

[0011] After the code elements corresponding to the communication content are pulse-shaped by a square root raised cosine roll-off filter, the carrier is modulated using binary phase shift keying modulation to generate a communication signal.

[0012] In the above technical solution, binary phase-shift keying (BPSK) modulation is used to transmit bit information by varying the carrier phase. BPSK is a type of constant envelope modulation. Its constant carrier is less affected by Doppler shift, resulting in a low bit error rate. It is often used for underwater acoustic communications in harsh channel environments. BPSK modulation helps improve data transmission accuracy.

[0013] In some embodiments, the communication signal is combined with the flow rate monitoring signal to generate an integrated signal, specifically comprising:

[0014] The flow rate monitoring signal is inserted into the head and tail of the communication signal to generate an integrated signal.

[0015] In the above technical solution, the flow rate monitoring signal is used to monitor the flow rate of the underwater acoustic tomography system and synchronize the communication signal. It is located at the beginning and end of the entire signal segment. The flow rate monitoring signal can be used to detect the arrival time of the signal, and then use the time difference method to invert the water area flow rate. It also serves as the synchronization head of the underwater acoustic communication to extract the communication signal.

[0016] In some embodiments, the flow rate monitoring signal is a frame synchronization signal.

[0017] In the above technical solution, the frame synchronization signal is composed of an M-sequence signal, which can be obtained by modulating the M-sequence code composed of 1 and -1 as a baseband signal with a sine wave signal. It has extremely excellent correlation characteristics. Its extremely strong correlation characteristics can be used for matched filtering to detect the time of signal arrival, and then use the time difference method to invert the water flow velocity, and act as a synchronization head for underwater acoustic communication to extract the communication content signal.

[0018] In some embodiments, the communication signal is combined with the flow rate monitoring signal to generate an integrated signal, and then further comprises:

[0019] Integrated signal transmission and reception between underwater acoustic tomography stations;

[0020] Perform frame synchronization detection on the integrated signal to obtain the two-way propagation time and communication signal;

[0021] The propagation time is used to monitor the flow rate and to perform coherent demodulation on the communication signal to obtain the communication content.

[0022] In the above technical solution, during an actual underwater acoustic tomography experiment, the system set up two acoustic stations, each equipped with an acoustic sensor for transmitting and receiving underwater acoustic signals. The integrated signal described in the present invention was used to achieve reciprocal transmission and reception between the two stations. The two-way propagation time of the integrated signal was used to monitor flow velocity, and the communication signal was coherently demodulated to obtain the communication content.

[0023] In some embodiments, the reciprocal transmission and reception is performed based on GPS time synchronization conditions.

[0024] In the above technical solution, using high-precision GPS for time synchronization can obtain more accurate propagation time.

[0025] In some embodiments, using the propagation time to monitor flow velocity and coherently demodulating the communication signal to obtain communication content specifically includes:

[0026] A voltage-controlled oscillator is used to process the communication signal to obtain two branch signals orthogonal to each other;

[0027] The two branch signals are multiplied with the communication signal respectively, and the high-frequency components are filtered out by a low-pass filter and the phase detector is used by a multiplier to obtain the phase difference between the recovered carrier and the original signal carrier, thereby obtaining the synchronized carrier.

[0028] The synchronized carrier is multiplied by the communication signal and then convolved with a square root raised cosine roll-off filter to obtain the recovered baseband signal.

[0029] Perform bit synchronization on the baseband signal to obtain the best sampling point;

[0030] According to the optimal sampling point, symbol decision is performed on the baseband signal and the signal is decoded to obtain communication content.

[0031] In this technical solution, the two-way propagation time of the integrated signal is used to monitor flow velocity, and the communication signal is coherently demodulated to obtain the communication content. While calculating flow velocity, the communication signal is synchronized using the Costas loop principle and the Gardner timing error algorithm is used to achieve bit synchronization and symbol decision.

[0032] According to another aspect of the present invention, there is provided an integrated measurement and communication device based on an underwater acoustic tomography system, comprising: a generation module and a transmission module electrically connected in sequence;

[0033] The generation module is used for the communication sending end to obtain the communication content and the flow rate monitoring signal, encode the communication content and perform carrier modulation to generate the communication signal;

[0034] The sending module is used to combine the communication signal with the flow rate monitoring signal to generate an integrated signal.

[0035] In this technical solution, the underwater acoustic tomography device can simultaneously monitor flow velocity and enable inter-station communication, making the underwater acoustic tomography system more intelligent and conserving system hardware resources. The integrated signal combines the underwater acoustic tomography flow velocity monitoring signal and the communication signal, improving the device's bandwidth utilization.

[0036] According to another aspect of the present invention, there is provided an integrated measurement and communication device based on an underwater acoustic tomography system, comprising:

[0037] at least one processor; and,

[0038] a memory communicatively connected to the at least one processor; wherein,

[0039] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the above-mentioned measurement and communication integration method based on the underwater acoustic tomography system.

[0040] According to another aspect of the present invention, a computer-readable storage medium is provided, storing a computer program, which, when executed by a processor, implements the above-mentioned integrated measurement and communication method based on an underwater acoustic tomography system. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 It is a flow chart of an embodiment of the measurement and communication integration method based on the underwater acoustic tomography system of the present invention.

[0043] Figure 2This is a schematic diagram of an integrated signal with the communication content of "Hello, world" according to an embodiment of the measurement and communication integration method based on an underwater acoustic tomography system of the present invention.

[0044] Figure 3 Schematic diagram of a flow rate monitoring signal according to an embodiment of the integrated measurement and communication method of the underwater acoustic tomography system of the present invention, wherein (A) is a modulated signal of an M sequence and a sine wave, (B) is an autocorrelation waveform of the flow rate monitoring signal, and (C) is a local amplification of the flow rate monitoring signal.

[0045] Figure 4 1 is a schematic diagram of received signals according to an embodiment of the measurement and communication integration method based on an underwater acoustic tomography system of the present invention, wherein the dotted line represents the received integrated signal. DETAILED DESCRIPTION

[0046] The present invention will be described in further detail below with reference to the accompanying drawings and examples. It is particularly noted that the following examples are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. Similarly, the following examples are only some embodiments of the present invention and are not intended to be exhaustive. All other embodiments obtained by those of ordinary skill in the art without creative effort are intended to fall within the scope of protection of the present invention.

[0047] refer to Figure 1 , underwater acoustic tomography technology has been widely studied and applied at home and abroad, but there are very few methods to use the underwater acoustic tomography system for flow rate monitoring and communication at the same time. Based on the underwater acoustic tomography system, the present invention redesigns the signal it transmits, and innovatively enables the underwater acoustic tomography system to have a communication function without affecting the original flow rate monitoring function, thereby increasing the function of the underwater acoustic tomography system, making full use of the system hardware resources, and also improving the frequency band utilization. To this end, this embodiment proposes a measurement and communication integration method based on the underwater acoustic tomography system, so that the underwater acoustic tomography system can perform underwater acoustic communication functions while performing measurement tasks, saving system hardware space, making full use of system hardware resources and bandwidth resources, and making the underwater acoustic tomography system more intelligent. The method includes two parts: a transmitting end part and a receiving end part;

[0048] 1. Transmitter

[0049] S1. The communication transmitting end obtains the communication content and the flow rate monitoring signal, encodes the communication content and performs carrier modulation to generate a communication signal. The steps are as follows:

[0050] S11. Obtaining communication content:

[0051] In this embodiment, the communication content is the content to be transmitted, which may be images, characters, or voice.

[0052] S12, encoding and carrier modulating the communication content to generate a communication signal;

[0053] In this embodiment, binary phase-shift keying (BPSK) modulation is used to transmit bit information by changing the carrier phase. BPSK is a type of constant envelope modulation. Its carrier is constant, making it less susceptible to Doppler shift and resulting in a low bit error rate. It is often used for underwater acoustic communications in harsh channel environments. The time domain form of a BPSK modulated signal is defined as follows:

[0054]

[0055] Where A is the instantaneous amplitude of the carrier signal, f c is the carrier frequency, is a binary digital baseband signal, a n ∈{-1, 1}, is the code element after the communication content is encoded, Represents the phase of the binary phase shift keying modulated signal, g(t-nT s ) is the square root raised cosine roll-off filter tap.

[0056] The square root raised cosine roll-off filter is used to perform pulse shaping on the digital baseband signal and acts as a matched filter, which improves the output signal-to-noise ratio under the condition of a certain input signal-to-noise ratio. Its time domain expression is as follows:

[0057]

[0058] Where T is the period and α is the roll-off factor.

[0059] S2. Combining the communication signal with the flow rate monitoring signal to generate an integrated signal. Specifically, S2 includes: combining the flow rate monitoring signal and the communication signal to generate an integrated signal;

[0060] The flow rate monitoring signal, used to monitor flow rate in the underwater acoustic tomography system and synchronize communication signals, is located at the beginning and end of the entire signal. This signal can be used to detect the arrival time of the signal, thereby inverting the water flow rate using the time difference method, and serves as the synchronization header for underwater acoustic communication to extract the communication content signal.

[0061] In this embodiment, the flow rate monitoring signal is a frame synchronization signal composed of an M-sequence signal. It is used to monitor flow rate in the underwater acoustic tomography system and synchronize communication signals. It is located at the beginning and end of the entire signal. This signal is obtained by modulating a sine wave signal with an M-sequence code consisting of 1s and -1s as a baseband signal. This M-sequence code exhibits excellent correlation properties. Leveraging this strong correlation, matched filtering can be used to detect signal arrival times, thereby inverting water flow rates using the time difference method. It also serves as a synchronization header for underwater acoustic communication, extracting the communication content signal.

[0062] The length of the flow rate monitoring signal is:

[0063]

[0064] Among them, f s is the sampling rate, f c is the center frequency of the synchronization header signal, that is, the frequency of the sine wave, N is the number of carriers per symbol, and n is the number of shift register stages that generate the M sequence. The M sequence is the longest linear shift register sequence and is a typical pseudo-random sequence. The number of register stages n can be selected as needed to adjust the length of the generated baseband signal. n -1, thereby changing the length of the flow rate monitoring signal.

[0065] 2. Receiver

[0066] S3, reciprocal transmission and reception of integrated signals between underwater acoustic tomography sites, specifically comprising: reciprocal transmission and reception of the integrated signals between two sites of the underwater acoustic tomography system to obtain received signals;

[0067] In this embodiment, the underwater acoustic tomography system has two acoustic stations, each equipped with an acoustic sensor for transmitting and receiving underwater acoustic signals. Acoustic signals are reciprocally transmitted and received between the two stations. This reciprocal transmission and reception is performed under high-precision GPS time synchronization. Using high-precision GPS for time synchronization can yield more accurate propagation times.

[0068] S4. Perform frame synchronization detection on the received signal to obtain the two-way propagation time and communication signal, specifically including:

[0069] S41, performing frame synchronization detection on the received signal to obtain a two-way propagation time of the integrated signal and a communication signal;

[0070] S42, utilizing the extremely strong correlation characteristics of the flow velocity monitoring signal, performing a cross-correlation operation on it and the received signal to complete frame synchronization, thereby obtaining two sharp cross-correlation peaks;

[0071] S43. Obtain the propagation time of the integrated signal based on the position of the first cross-correlation maximum peak and time synchronization with high-precision GPS:

[0072]

[0073] Among them, t ± is the bidirectional propagation time of the integrated signal, f s is the sampling rate, and m is the position of the first maximum cross-correlation peak in the cross-correlation calculation result.

[0074] S44. extracting a communication signal from the received signal according to the positions of the two cross-correlation peaks;

[0075] S5. Using the propagation time to monitor the flow rate and coherently demodulating the communication signal to obtain the communication content, specifically including:

[0076] S51. Flow rate monitoring is based on the reciprocal transmission theory of sound waves and uses the time difference method to monitor:

[0077]

[0078] Where u is the velocity in the direction of the two underwater acoustic tomography stations, R is the straight-line distance between the two stations,

[0079] S52, a coherent demodulation method, using a voltage-controlled oscillator to form two orthogonal branch signals of the communication signal;

[0080] S53, multiplying the two branch signals by the communication signal respectively, filtering out high-frequency components through a low-pass filter and performing phase detection by a multiplier, to obtain a phase difference between the recovered carrier and the original signal carrier, thereby obtaining a synchronized carrier;

[0081] S54, multiplying the synchronized carrier and the communication signal, and convolving the result with a square root raised cosine roll-off filter to obtain a recovered baseband signal;

[0082] S55, performing bit synchronization on the baseband signal to obtain an optimal sampling point;

[0083] In this embodiment, the algorithm used for bit synchronization is the Gardner timing error algorithm, which is a non-data-assisted error detection algorithm. The interpolated signal requires two resampling points within each symbol: one corresponding to the optimal sampling point of the signal, and the other an interpolated value between the optimal sampling points. The timing error calculation formula is:

[0084] τ(n)=y(n-1 / 2)*[y(n)-y(n-1)]

[0085] Where τ(n) is the timing error detection value, and y(n) and y(n-1) are adjacent sampling points of the signal.

[0086] S56 performs symbol decision and decoding on the baseband signal according to the optimal sampling point to obtain communication content.

[0087] The symbol decision uses 0 as the decision threshold. When the sampling point value is greater than 0, the symbol decision is "1", and when the sampling point value is less than 0, the symbol decision is "0".

[0088] In this embodiment, the two-way propagation time of the integrated signal is used to monitor flow velocity, and the communication signal is coherently demodulated to obtain the communication content. While calculating the flow velocity, the communication signal is synchronized using the Costas loop principle, and the Gardner timing error algorithm is used to achieve bit synchronization and symbol decision.

[0089] Example 1

[0090] Figure 2 As shown, ① is the communication signal, and ② is the flow rate monitoring signal.

[0091] Signal ① is the communication content "Hello, world" and is modulated using binary phase shift keying (BPSK). The time domain form of the BPSK modulated signal is defined as follows:

[0092]

[0093] Where A is the instantaneous amplitude of the carrier signal, f c is the carrier frequency, is a binary digital baseband signal, a n ∈{-1, 1}, is the code element after the communication content is encoded, Represents the phase of the binary phase shift keying modulated signal, g(t-nT s ) is the square root raised cosine roll-off filter tap.

[0094] Furthermore, a square root raised cosine roll-off filter is used to perform pulse shaping on the digital baseband signal. Its time domain expression is as follows:

[0095]

[0096] Where T is the period and α is the roll-off factor.

[0097] Signal ②, also called the frame synchronization signal part, such as Figure 3As shown in the figure, the signal obtained by modulating a sine wave signal with an M-sequence code consisting of 1s and -1s as a baseband signal has extremely good correlation characteristics. By using its strong correlation characteristics for matched filtering, it can be used to detect the time of signal arrival, and then use the time difference method to invert the water flow velocity. It can also serve as a frame synchronization signal for underwater acoustic communication and extract the communication signal.

[0098] The length of signal ② is:

[0099]

[0100] Among them, f s is the sampling rate, f c is the center frequency of the flow rate monitoring signal, that is, the frequency of the sine wave, N is the number of carriers per symbol, and n is the number of shift register stages that generate the M sequence. The M sequence is the longest linear shift register sequence and is a typical pseudo-random sequence. The number of register stages n can be selected as needed to adjust the length of the generated baseband signal. n -1, thereby changing the length of the flow rate monitoring signal.

[0101] By combining signal ① and signal ②, an integrated signal can be obtained that can realize the flow rate monitoring function and communication.

[0102] Example 2

[0103] In the actual underwater acoustic tomography experiment, the system sets up two acoustic stations, each station is equipped with an acoustic sensor for transmitting and receiving underwater acoustic signals, and the integrated signal of the present invention is used to perform reciprocal transmission and reception between the two stations. Figure 4 As shown, one of the stations receives a signal with the content "Hello, world" from the opposite station.

[0104] The received signal is frame synchronized to obtain the two-way propagation time of the integrated signal and the communication signal.

[0105] By utilizing the extremely strong correlation characteristics of the flow rate monitoring signal, a cross-correlation operation is performed between it and the received signal to complete frame synchronization and obtain two sharp cross-correlation peaks;

[0106] Based on the position of the first cross-correlation maximum peak and the time synchronization with high-precision GPS, the propagation time of the integrated signal is obtained:

[0107]

[0108] Among them, t ± is the bidirectional propagation time of the integrated signal, f s is the sampling rate, m is the position of the first maximum cross-correlation peak in the cross-correlation calculation result;

[0109] The communication signal is extracted from the received signal according to the positions of the two cross-correlation peaks.

[0110] Furthermore, the two-way propagation time of the integrated signal is used to monitor the flow rate, and the communication signal is coherently demodulated to obtain the communication content.

[0111] Flow rate monitoring is based on the reciprocal transmission theory of sound waves and uses the time difference method to calculate:

[0112]

[0113] Where u is the velocity in the direction of the two underwater acoustic tomography stations, R is the straight-line distance between the two stations,

[0114] While calculating the flow rate, the Costas loop principle is used to synchronize the communication signal carrier, and the Gardner timing error algorithm is used to achieve bit synchronization and symbol decision.

[0115] The specific approach is as follows: a voltage-controlled oscillator is used to form two orthogonal branch signals of the communication signal; the two branch signals are multiplied with the communication signal respectively, and the high-frequency components are filtered out through a low-pass filter and a phase detector is used for multiplier detection to obtain the phase difference between the recovered carrier and the original signal carrier, thereby obtaining the synchronized carrier; the synchronized carrier is multiplied with the communication signal and convolved with a square root raised cosine roll-off filter to obtain the recovered baseband signal; the baseband signal is synchronized to obtain the optimal sampling point; based on the optimal sampling point, 0 is used as the decision threshold. When the sampling point value is greater than 0, the symbol decision is "1", and when the sampling point value is less than 0, the symbol decision is "0".

[0116] The algorithm used for bit synchronization is the Gardner timing error algorithm, a non-data-assisted error detection algorithm. The interpolated signal requires two resampling points per symbol: one corresponding to the optimal sampling point of the signal, and the other an interpolated value between the optimal sampling points. The timing error calculation formula is:

[0117] τ(n)=y(n-1 / 2)*[y(n)-y(n-1)]

[0118] Wherein, τ(n) is the timing error detection value, and y(n) and y(n-1) are adjacent sampling points of the signal.

[0119] According to another aspect of the present embodiment, there is provided an integrated measurement and communication device based on an underwater acoustic tomography system, comprising: a generation module and a transmission module electrically connected in sequence;

[0120] The generation module is used for the communication transmitting end to obtain the communication content and the flow rate monitoring signal, encode and carrier modulate the communication content, and generate a communication signal.

[0121] The sending module is used to combine the communication signal with the flow rate monitoring signal to generate an integrated signal.

[0122] Further including:

[0123] A transceiver module, a frame synchronization module, and a demodulation module electrically connected in sequence;

[0124] The transceiver module is used for the communication receiving end and the communication transmitting end to mutually transmit and receive integrated signals;

[0125] The frame synchronization module is used to perform frame synchronization detection on the integrated signal to obtain the two-way propagation time and communication signal;

[0126] The demodulation module is used to use the propagation time to monitor the flow rate and to perform coherent demodulation on the communication signal to obtain the communication content.

[0127] The principles and methods of this system correspond one-to-one to the above-mentioned integrated measurement and communication method based on the underwater acoustic tomography system, and will not be repeated here.

[0128] According to another aspect of the present invention, there is provided an integrated measurement and communication device based on an underwater acoustic tomography system, comprising:

[0129] at least one processor; and,

[0130] a memory communicatively connected to the at least one processor; wherein,

[0131] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the above-mentioned measurement and communication integration method based on the underwater acoustic tomography system.

[0132] The principles and methods of this device correspond one-to-one to the above-mentioned integrated measurement and communication method based on the underwater acoustic tomography system, and will not be repeated here.

[0133] According to another aspect of this embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the computer program implements the above-mentioned integrated measurement and communication method based on the underwater acoustic tomography system.

[0134] The principles and methods of this medium processing correspond one to one with the aforementioned integrated measurement and communication method based on the underwater acoustic tomography system, and will not be described in detail here.

[0135] The above descriptions are only some embodiments of the present invention and do not limit the scope of protection of the present invention. Any equivalent device or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A measurement and communication integration method based on an underwater acoustic tomography system, characterized in that: The method includes: The communication transmitter obtains the communication content and flow rate monitoring signal, pulse shapes the code elements corresponding to the communication content through a square root raised cosine roll-off filter, and modulates the carrier using binary phase shift keying modulation to generate a communication signal; The flow rate monitoring signal is inserted into the head and tail of the communication signal to generate an integrated signal.

2. The measurement and communication integration method based on underwater acoustic tomography system according to claim 1, characterized in that: The flow rate monitoring signal is a frame synchronization signal.

3. The measurement and communication integration method based on underwater acoustic tomography system according to claim 1, characterized in that: The communication signal is combined with the flow rate monitoring signal to generate an integrated signal, and then further includes: Integrated signal transmission and reception between underwater acoustic tomography stations; Perform frame synchronization detection on the received signal to obtain the two-way propagation time and communication signal; The propagation time is used to monitor the flow rate and to perform coherent demodulation on the communication signal to obtain the communication content.

4. The measurement and communication integration method based on underwater acoustic tomography system according to claim 3 is characterized in that: The reciprocal transmission and reception is performed under the condition of GPS time synchronization.

5. The measurement and communication integration method based on underwater acoustic tomography system according to claim 3, characterized in that: The propagation time is used to monitor the flow rate and coherently demodulate the communication signal to obtain the communication content, including: A voltage-controlled oscillator is used to process the communication signal to obtain two branch signals orthogonal to each other; The two branch signals are multiplied with the communication signal respectively, and the high-frequency components are filtered out by a low-pass filter and the phase detector is used by a multiplier to obtain the phase difference between the recovered carrier and the original signal carrier, thereby obtaining the synchronized carrier. The synchronized carrier is multiplied by the communication signal and then convolved with a square root raised cosine roll-off filter to obtain the recovered baseband signal. Perform bit synchronization on the baseband signal to obtain the best sampling point; According to the optimal sampling point, symbol decision is performed on the baseband signal and the signal is decoded to obtain communication content.

6. A measurement and communication integrated device based on an underwater acoustic tomography system, characterized in that: include: A generating module and a sending module electrically connected in sequence; The generation module is used to obtain the communication content and flow rate monitoring signal at the communication sending end, pulse shape the code element corresponding to the communication content through the square root raised cosine roll-off filter, and modulate the carrier using binary phase shift keying modulation to generate the communication signal; The sending module is used to insert the flow rate monitoring signal into the head and tail of the communication signal to generate an integrated signal.

7. A measurement and communication integrated device based on an underwater acoustic tomography system, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the measurement and communication integration method based on the underwater acoustic tomography system as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the computer program implements a measurement and communication integration method based on an underwater acoustic tomography system according to any one of claims 1 to 5.

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