Underwater acoustic communication method, system and equipment based on underwater acoustic communication network, and medium

Abstract

The invention discloses an underwater acoustic communication method, system and device based on an underwater acoustic communication network and a medium, and relates to the field of underwater acoustic communication, and the method comprises the steps: obtaining the distance between underwater nodes in the underwater acoustic communication network; determining an improved node adjacency matrix based on the distance; determining a set corresponding to each underwater node based on the improved node adjacency matrix; based on the set corresponding to each underwater node, the source node and the destination node, determining a data transmission path of a routing layer in the underwater acoustic communication network by adopting a Dijkstra algorithm, and determining a transmission time slot of an MAC layer in the underwater acoustic communication network at the same time; and transmitting the underwater acoustic data based on the data transmission path and the transmission time slot to complete underwater acoustic communication. The transmission quality of the underwater acoustic communication network can be improved.

Description

Technical Field

[0001] The present application relates to the field of underwater acoustic communication, and in particular to an underwater acoustic communication method, system, equipment and medium based on an underwater acoustic communication network. Background Art

[0002] Given the transmission characteristics of underwater acoustic channels, such as high propagation loss and long propagation delay, the reliability of data transmission in underwater acoustic communication networks faces many challenges. The multipath routing strategy uses multiple paths to transmit data from the source node to the destination node, and uses the redundant characteristics of the path to improve the reliability of transmission. However, in practice, this strategy is prone to mutual interference between paths, which in turn leads to increased data transmission delay and even transmission failure. In order to reduce mutual interference between paths, most current studies use node-disjoint or link-disjoint methods to select paths in the routing layer, but these methods are actually difficult to eliminate the mutual interference problem between different paths, resulting in low transmission quality in underwater acoustic communication networks. Summary of the invention

[0003] The purpose of this application is to provide an underwater acoustic communication method, system, equipment and medium based on an underwater acoustic communication network, which can improve the transmission quality of the underwater acoustic communication network.

[0004] To achieve the above objectives, this application provides the following solutions: In a first aspect, the present application provides an underwater acoustic communication method based on an underwater acoustic communication network, comprising: Obtaining the distance between underwater nodes in an underwater acoustic communication network; the underwater nodes include: a source node, a destination node, and a plurality of intermediate nodes; determining an improved node adjacency matrix based on the distances; Determine the set corresponding to each underwater node based on the improved node adjacency matrix; the set includes: an adjacent node set, an interference node set and a non-interference node set; Based on the set corresponding to each of the underwater nodes, the source node and the destination node, the Dijkstra algorithm is used to determine the data transmission path of the routing layer in the underwater acoustic communication network, and at the same time determine the transmission time slot of the MAC layer in the underwater acoustic communication network; the transmission time slot is the transmission time of each underwater node in the data transmission path; Based on the data transmission path and the transmission time slot, the underwater acoustic data is transmitted to complete the underwater acoustic communication.

[0005] In a second aspect, the present application provides an underwater acoustic communication system based on an underwater acoustic communication network, comprising: An acquisition module is used to acquire the distance between underwater nodes in the underwater acoustic communication network; the underwater nodes include: a source node, a destination node and a plurality of intermediate nodes; An improvement module, configured to determine an improved node adjacency matrix based on the distance; A set generation module, used to determine the set corresponding to each underwater node based on the improved node adjacency matrix; the set includes: an adjacent node set, an interference node set and a non-interference node set; A data transmission path and transmission time slot determination module, used to determine the data transmission path of the routing layer in the underwater acoustic communication network and the transmission time slot of the MAC layer in the underwater acoustic communication network based on the set corresponding to each of the underwater nodes, the source node and the destination node, using the Dijkstra algorithm; the transmission time slot is the transmission time of each underwater node in the data transmission path; The data transmission module is used to transmit the underwater acoustic data based on the data transmission path and the transmission time slot to complete the underwater acoustic communication.

[0006] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the underwater acoustic communication method based on the underwater acoustic communication network described in the first aspect.

[0007] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the underwater acoustic communication method of the underwater acoustic communication network described in the first aspect.

[0008] According to the specific embodiments provided in this application, this application has the following technical effects: The present application provides an underwater acoustic communication method, system, device and medium based on an underwater acoustic communication network. Through an improved node adjacency matrix, the adjacent node set, interference node set and non-interference node set of each underwater node are re-determined, thereby solving the problem that each underwater node is not adjacent but still has interference; based on the adjacent node set, interference node set, non-interference node set, source node and destination node of each underwater node, the Dijkstra algorithm is used to determine the data transmission path of the routing layer in the underwater acoustic communication network, and realizes direct selection of multiple non-interference data transmission paths in the network, thereby reducing the interference level between underwater nodes, thereby improving the quality of data transmission; at the same time, the MAC layer arranges the transmission time for each underwater node in the data transmission path, which can further reduce the interference and conflict between multiple data transmission paths, and reduce the data transmission delay, further improve the quality of data transmission, so that the transmission quality of the final underwater acoustic communication network can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 A schematic diagram of a flow chart of an underwater acoustic communication method based on an underwater acoustic communication network; Figure 2 For application Figure 1 Detailed process diagram of Figure 3 is a schematic diagram of a data packet structure; Figure 4 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0011] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0012] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0013] In an exemplary embodiment, Figure 1 As shown, a video tag processing method is provided, which is executed by a computer device, specifically, it can be executed by a computer device such as a terminal or a server alone, or it can be executed by a terminal and a server together. In the embodiment of the present application, the method is applied to a server as an example for explanation, including the following steps 1 to 5. Among them: Step 1: Obtain the distances between underwater nodes in the underwater acoustic communication network; the underwater nodes include: a source node, a destination node, and multiple intermediate nodes.

[0014] Specifically, the underwater acoustic communication network is initialized first, the nearshore host and the underwater nodes communicate, and the underwater nodes collect the positions of each other underwater node, providing a basis for establishing an improved node adjacency matrix.

[0015] Step 2: Determine the improved node adjacency matrix based on the distance.

[0016] Specifically, the elements in the improved node adjacency matrix include 0, 1, -1 and 2; element 0 indicates that the distance between underwater nodes is d=0; element 1 indicates that the underwater nodes are connected, and 0 <d≤ , is the corrected transmission distance between underwater nodes; an element of -1 indicates that the underwater nodes are not connected, and <d≤ , is the interference distance between underwater nodes; element 2 means that the underwater nodes are not connected, and d> .

[0017] When the underwater node and underwater nodes When the distance between the underwater nodes is equal to or close to the maximum communication distance range, and underwater nodes The communication between underwater nodes is easily affected by sudden noises such as marine biological noise and ship noise, which may lead to communication failure. Therefore, this application introduces an error threshold in the maximum communication distance between underwater nodes by considering the critical situation of communication. When the underwater node and underwater nodes The distance between Within, that is satisfied When , the adjacency matrix elements between underwater nodes are Among them, the corrected transmission distance The calculation formula is: .

[0018] in, is the maximum communication distance between underwater nodes, is the error threshold.

[0019] Improved node adjacency matrix calculated by underwater node distance , characterizes the interference relationship between underwater nodes in underwater acoustic communication networks. Among them, is the number of underwater nodes in the underwater acoustic communication network. Compared with the traditional adjacency matrix that uses 0 and 1 to represent the connectivity between underwater nodes, Two elements are added to describe the interference phenomenon between underwater nodes, namely, the element and . Represents underwater nodes Underwater nodes within the interference range, but in the underwater node outside the connectivity range; It represents the underwater node Underwater nodes outside the interference range.

[0020] Step 3: Determine the set corresponding to each underwater node based on the improved node adjacency matrix; the set includes: adjacent node set, interference node set and non-interference node set.

[0021] Specifically, the underwater nodes can be obtained according to the improved node adjacency matrix The set of neighbor nodes , underwater node The set of interference nodes , and underwater nodes The set of non-interfering nodes .

[0022] Step 4: Based on the set, source node and destination node corresponding to each underwater node, the Dijkstra algorithm is used to determine the data transmission path of the routing layer in the underwater acoustic communication network, and at the same time determine the transmission time slot of the MAC layer in the underwater acoustic communication network; the transmission time slot is the transmission time of each underwater node in the data transmission path.

[0023] Furthermore, in order to reduce mutual interference between paths, multiple multi-hop data transmission paths of the routing layer are determined according to the neighbor node set, interference node set and non-interference node set calculated in step 3, and transmission time slots are directly allocated in sequence to the transmission underwater nodes on each data transmission path.

[0024] Specifically, there are multiple data transmission paths; for the Nth data transmission path, based on the set of each underwater node, the source node and the destination node, the Dijkstra algorithm is used to determine the Nth data transmission path of the routing layer in the underwater acoustic communication network, specifically including: Based on the set corresponding to each underwater node and the first N-1 data transmission paths, the relay node set is determined; the relay node set is the set of nodes that have no interference with the remaining underwater nodes and the underwater nodes in the first N-1 data transmission paths; where N>1, the first data transmission path is the shortest transmission path from the source node to the destination node.

[0025] Based on the source node, destination node and relay node set, the Dijkstra algorithm is used to determine the Nth data transmission path.

[0026] Specifically, determining the transmission time slot of the MAC layer in the underwater acoustic communication network includes: According to the distance between underwater nodes, the length of data packets, the transmission rate of data packets and the redundancy time, the transmission time slot of the MAC layer in the underwater acoustic communication network is determined, and the transmission time slot is allocated to the underwater nodes in the corresponding data transmission path; the data packets are data packets of underwater acoustic data.

[0027] Specifically, allocating transmission time slots to underwater nodes in corresponding data transmission paths specifically includes: allocating transmission time slots to underwater nodes in corresponding data transmission paths according to the sequence of the data transmission paths and the sequence of the underwater nodes in the data transmission paths.

[0028] A specific implementation example is provided for determining the data transmission path and transmission time slot in step 4, taking two data transmission paths as an example. Since the shortest path between the source node and the destination node occupies the shared channel for the shortest time and introduces less network interference, it can increase the opportunity and time for other underwater nodes in the network to access limited channel resources. Based on the above considerations, the Dijkstra algorithm is used to calculate the shortest path between the source node and the destination node, and the path is used as the first data transmission path in the routing layer. At the same time, the first data transmission path is recorded as ,in yes The number of underwater nodes in Represents the first data transmission path The After getting the first data transmission path Afterwards, the transmission time slots are sequentially allocated to the transmission underwater nodes in the first data transmission path, that is, the time for each transmission underwater node to use the shared channel. Afterwards, the second data transmission path is determined. represents the second data transmission path, where yes The number of underwater nodes in It is the second hop in the data transmission path. In order to ensure that both data transmission paths can successfully transmit data from the source node to the destination node, that is, the second data transmission path does not interfere with the first data transmission path, the second data transmission path Transmission underwater nodes in Conditions to be met .also, The following conditions must also be met: .therefore, Should be in the non-interference relay node set In addition, if , it means that at the current transmission moment, there is no underwater node in the underwater acoustic communication network that does not interfere with the first data transmission path. In this case, the corresponding underwater node in the second data transmission path needs to perform a backoff operation; if , The only element in will be selected as , and is scheduled to transmit data simultaneously with the first transmission path at the current moment; if , The element with the longest advance distance will be selected as The forward distance is defined as the forward distance of the data packet from the source node to the destination node, that is, the projected length of the transmission link from the source node to the destination node. The above process will be repeated until ( G destination node) or traverse to the last time slot used by the first data transmission path If in the last time slot hour , this method will and G The shortest path between The remainder of the path is then allocated a new time slot in sequence for each hop in the remaining path.

[0029] Step 5: Based on the data transmission path and transmission time slot, the underwater acoustic data is transmitted to complete the underwater acoustic communication.

[0030] In an exemplary embodiment, the method of steps 1 to 5 of the present application is used to transmit underwater acoustic data and complete underwater acoustic communication. The specific flow chart is as follows: Figure 2 As shown, first, the step 1 of the present application is completed by initializing the network; then the improved adjacency matrix is ​​established to complete the steps 2 and 3 of the present application; then the multi-path routing is determined, specifically including: transmission path calculation (i.e., calculation of the data transmission path) and transmission time slot allocation to complete the step 4 of the present application; finally, in the data transmission stage, the data transmission path, transmission time slot and underwater acoustic data are embedded into the forwarding data packet (i.e. Figure 2 In the packaged data message), the underwater node in the underwater acoustic communication network extracts the path information from the received data packet and performs corresponding operations to perform underwater acoustic communication to complete step 5 of this application.

[0031] The structure of the data packet is as follows Figure 3As shown in the figure, the structure of the data packet includes three parts: the start delimiter, the message header, and the message data. Among them, the start delimiter part marks the start of the message, and the message header and the message data part contain the necessary control information (i.e., data transmission path and transmission time slot) and the data to be transmitted (i.e., underwater acoustic data) respectively. The message header also includes the following parts: the message type indicates the type of the transmission message, which is used to distinguish between data packets and control packets; the message length indicates the length of the transmission message; the message ID indicates the ID of the transmission message; the receiving node ID indicates the ID of the underwater node to which the transmission message should be forwarded; the number of path nodes indicates the number of underwater nodes in the forwarding path; the data transmission path indicates the forwarding path; the check code indicates the cyclic redundancy check code, which is used to detect or verify possible errors in the data transmission process. When a data packet is monitored, the underwater node first determines whether the data packet is sent to itself by comparing its ID with the ID stored in the data packet. If the same, the underwater node will find the next hop ID from the extracted path information. If the next hop ID is the same as its ID, the node will perform a backoff operation, otherwise, the underwater node will immediately forward the data packet to the next hop.

[0032] The beneficial effects of the underwater acoustic communication method based on the underwater acoustic communication network proposed in this application are mainly manifested in: (1) This application proposes an improved node adjacency matrix to describe the interference relationship between paths. It reduces the interference level between nodes by directly selecting multiple transmission paths without interference or with small interference between paths in the underwater acoustic communication network, thereby improving the reliability of data transmission. By determining the adjacent node set, interference node set and non-interference node set of each underwater node, it solves the problem that each underwater node is not adjacent but still has interference, thereby providing a reliable selection basis for determining the data transmission path.

[0033] (2) This application uses the Dijkstra algorithm to determine the data transmission path based on the adjacent node set, interference node set, non-interference node set, source node and destination node of each underwater node. By directly selecting non-interference nodes, it realizes the selection of multiple non-interference data transmission paths in the network, thereby reducing the interference level between underwater nodes and improving the quality of data transmission.

[0034] (3) By arranging the transmission time for each underwater node in the data transmission path through the MAC layer, the interference and conflict between multiple data transmission paths can be further reduced, and the data transmission delay can be reduced, thereby improving the reliability of data transmission and the transmission quality of the underwater acoustic communication network.

[0035] Based on the same inventive concept, the embodiment of the present application also provides a method for implementing the above-mentioned underwater acoustic communication system based on an underwater acoustic communication network. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more embodiments of the underwater acoustic communication system based on an underwater acoustic communication network provided below can refer to the above-mentioned limitations on the underwater acoustic communication method based on an underwater acoustic communication network, and will not be repeated here.

[0036] In an exemplary embodiment, an underwater acoustic communication system based on an underwater acoustic communication network is provided, comprising: The acquisition module is used to acquire the distance between underwater nodes in the underwater acoustic communication network; the underwater nodes include: a source node, a destination node and multiple intermediate nodes.

[0037] An improvement module for determining an improved node adjacency matrix based on distance.

[0038] The set generation module is used to determine the set corresponding to each underwater node based on the improved node adjacency matrix; the set includes: an adjacent node set, an interference node set and a non-interference node set.

[0039] The data transmission path and transmission time slot determination module is used to determine the data transmission path of the routing layer in the underwater acoustic communication network based on the set, source node and destination node corresponding to each underwater node, and to determine the transmission time slot of the MAC layer in the underwater acoustic communication network by using the Dijkstra algorithm; the transmission time slot is the transmission time of each underwater node in the data transmission path.

[0040] The data transmission module is used to transmit the underwater acoustic data based on the data transmission path and transmission time slot to complete the underwater acoustic communication.

[0041] As an optional implementation manner, the data transmission path and transmission time slot determination module includes: The relay node set determination unit is used to determine the relay node set based on the set corresponding to each underwater node and the first N-1 data transmission paths; the relay node set is a node set that has no interference with the remaining underwater nodes and the underwater nodes in the first N-1 data transmission paths; wherein, N>1, the first data transmission path is the shortest transmission path from the source node to the destination node.

[0042] The data transmission path determination unit is used to determine the Nth data transmission path based on the source node, the destination node and the relay node set by using the Dijkstra algorithm.

[0043] The transmission time slot determination and allocation unit is used to determine the transmission time slot of the MAC layer in the underwater acoustic communication network according to the distance between the underwater nodes, the length of the data packet, the transmission rate of the data packet and the redundancy time, and allocate the transmission time slot to the underwater node in the corresponding data transmission path; the data packet is a data packet of underwater acoustic data.

[0044] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data transmission paths and transmission time slots. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, an underwater acoustic communication method based on an underwater acoustic communication network is implemented.

[0045] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0046] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0047] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0048] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0049] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0050] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. An underwater acoustic communication method based on an underwater acoustic communication network, characterized in that: The underwater acoustic communication method based on the underwater acoustic communication network includes: Obtaining the distance between underwater nodes in an underwater acoustic communication network; the underwater nodes include: a source node, a destination node, and a plurality of intermediate nodes; determining an improved node adjacency matrix based on the distances; Determine the set corresponding to each underwater node based on the improved node adjacency matrix; the set includes: an adjacent node set, an interference node set and a non-interference node set; Based on the set corresponding to each of the underwater nodes, the source node and the destination node, the Dijkstra algorithm is used to determine the data transmission path of the routing layer in the underwater acoustic communication network, and at the same time determine the transmission time slot of the MAC layer in the underwater acoustic communication network; the transmission time slot is the transmission time of each underwater node in the data transmission path; Based on the data transmission path and the transmission time slot, the underwater acoustic data is transmitted to complete the underwater acoustic communication.

2. The underwater acoustic communication method based on the underwater acoustic communication network according to claim 1, characterized in that: The elements in the improved node adjacency matrix include 0, 1, -1 and 2; Element 0 indicates the distance between underwater nodes d=0; Element 1 indicates the connection between underwater nodes, and 0 <d≤ , is the corrected transmission distance between underwater nodes; Element -1 means that underwater nodes are not connected, and <d≤ , is the interference distance between underwater nodes; Element 2 indicates that the underwater nodes are not connected, and d> .

3. The underwater acoustic communication method based on the underwater acoustic communication network according to claim 2, characterized in that: The corrected transmission distance The calculation formula is: ； in, is the maximum communication distance between underwater nodes, is the error threshold.

4. The underwater acoustic communication method based on the underwater acoustic communication network according to claim 1, characterized in that: There are multiple data transmission paths; wherein, for the Nth data transmission path, based on the set of each underwater node, the source node and the destination node, the Dijkstra algorithm is used to determine the Nth data transmission path of the routing layer in the underwater acoustic communication network, specifically including: Based on the set corresponding to each of the underwater nodes and the first N-1 data transmission paths, a relay node set is determined; the relay node set is a node set that does not interfere with the remaining underwater nodes and the underwater nodes in the first N-1 data transmission paths; wherein N>1, the first data transmission path is the shortest transmission path from the source node to the destination node; Based on the source node, the destination node and the relay node set, the Dijkstra algorithm is used to determine the Nth data transmission path.

5. The underwater acoustic communication method based on the underwater acoustic communication network according to claim 1, characterized in that: Determining a transmission time slot of a MAC layer in the underwater acoustic communication network specifically includes: According to the distance between underwater nodes, the length of the data packet, the transmission rate of the data packet and the redundancy time, the transmission time slot of the MAC layer in the underwater acoustic communication network is determined, and the transmission time slot is allocated to the underwater nodes in the corresponding data transmission path; the data packet is a data packet of underwater acoustic data.

6. The underwater acoustic communication method based on the underwater acoustic communication network according to claim 5, characterized in that: Allocating the transmission time slot to the underwater node in the corresponding data transmission path specifically includes: According to the sequence of the data transmission paths and the sequence of the underwater nodes in the data transmission paths, the transmission time slots are allocated to the corresponding underwater nodes in the data transmission paths.

7. An underwater acoustic communication system based on an underwater acoustic communication network, characterized in that: The underwater acoustic communication method based on the underwater acoustic communication network as described in any one of claims 1 to 6, wherein the underwater acoustic communication system based on the underwater acoustic communication network comprises: An acquisition module is used to acquire the distance between underwater nodes in the underwater acoustic communication network; the underwater nodes include: a source node, a destination node and a plurality of intermediate nodes; An improvement module, configured to determine an improved node adjacency matrix based on the distance; A set generation module, used to determine the set corresponding to each underwater node based on the improved node adjacency matrix; the set includes: an adjacent node set, an interference node set and a non-interference node set; A data transmission path and transmission time slot determination module, used to determine the data transmission path of the routing layer in the underwater acoustic communication network and the transmission time slot of the MAC layer in the underwater acoustic communication network based on the set corresponding to each of the underwater nodes, the source node and the destination node, using the Dijkstra algorithm; the transmission time slot is the transmission time of each underwater node in the data transmission path; The data transmission module is used to transmit the underwater acoustic data based on the data transmission path and the transmission time slot to complete the underwater acoustic communication.

8. The underwater acoustic communication system based on the underwater acoustic communication network according to claim 7, characterized in that: The data transmission path and transmission time slot determination module comprises: A relay node set determination unit, used to determine a relay node set based on the set corresponding to each of the underwater nodes and the first N-1 data transmission paths; the relay node set is a node set that has no interference with the remaining underwater nodes and the underwater nodes in the first N-1 data transmission paths; wherein N>1, the first data transmission path is the shortest transmission path from the source node to the destination node; a data transmission path determining unit, configured to determine the Nth data transmission path by using the Dijkstra algorithm based on the source node, the destination node and the relay node set; A transmission time slot determination and allocation unit is used to determine the transmission time slot of the MAC layer in the underwater acoustic communication network according to the distance between underwater nodes, the length of the data packet, the transmission rate of the data packet and the redundancy time, and allocate the transmission time slot to the underwater node in the corresponding data transmission path; the data packet is a data packet of underwater acoustic data.

9. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the underwater acoustic communication method based on an underwater acoustic communication network as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the underwater acoustic communication method based on an underwater acoustic communication network described in any one of claims 1 to 6 is implemented.

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