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

Abstract

The present application discloses an underwater acoustic communication method, system, device and medium based on an underwater acoustic communication network, relating to the field of underwater acoustic communication. The method includes: obtaining the distances between underwater nodes in the underwater acoustic communication network; determining an improved node adjacency matrix based on the distances; determining a set corresponding to each underwater node based on the improved node adjacency matrix; determining a data transmission path in the routing layer of the underwater acoustic communication network and simultaneously determining a transmission time slot in the MAC layer of the underwater acoustic communication network based on the set corresponding to each underwater node, the source node and the destination node by using Dijkstra's algorithm; and transmitting underwater acoustic data based on the data transmission path and the transmission time slot to complete underwater acoustic communication. The present application can improve the transmission quality of the underwater acoustic communication network.

Description

Technical Field

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

[0002] In view of the transmission characteristics of the underwater acoustic channel, such as high propagation loss and long propagation delay, the reliability of data transmission in an underwater acoustic communication network faces many challenges. The multipath routing strategy transmits data from a source node to a destination node by using multiple paths, and utilizes the redundancy characteristics of the paths to improve the transmission reliability. However, this strategy is prone to cause mutual interference between paths in practice, which in turn leads to an increase in data transmission delay and even transmission failure. In order to reduce the 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 of the underwater acoustic communication network. Summary of the Invention

[0003] The purpose of the present application is to provide an underwater acoustic communication method, system, device 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 purpose, the present application provides the following solutions:

[0005] In the first aspect, the present application provides an underwater acoustic communication method based on an underwater acoustic communication network, including:

[0006] 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;

[0007] Determine an improved node adjacency matrix based on the distances;

[0008] Determine a 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;

[0009] Based on the set corresponding to each underwater node, the source node, and the destination node, use Dijkstra's algorithm to determine the data transmission path in the routing layer of the underwater acoustic communication network, and at the same time determine the transmission time slot in the MAC layer of the underwater acoustic communication network; the transmission time slot is the transmission time of each underwater node in the data transmission path;

[0010] Transmit underwater acoustic data based on the data transmission path and the transmission time slot to complete underwater acoustic communication.

[0011] In the second aspect, the present application provides an underwater acoustic communication system based on an underwater acoustic communication network, including:

[0012] An acquisition module, configured to acquire the distances 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;

[0013] An improvement module, configured to determine an improved node adjacency matrix based on the distances;

[0014] A set generation module, configured to determine a 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;

[0015] A data transmission path and transmission time slot determination module, configured to determine a data transmission path of the routing layer in the underwater acoustic communication network and simultaneously determine a transmission time slot of the MAC layer in the underwater acoustic communication network based on the set corresponding to each underwater node, the source node, and the destination node, and by using the Dijkstra algorithm; the transmission time slot is the transmission time of each underwater node in the data transmission path;

[0016] A data transmission module, configured to transmit underwater acoustic data based on the data transmission path and the transmission time slot to complete underwater acoustic communication.

[0017] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the underwater acoustic communication method based on an underwater acoustic communication network described in the first aspect.

[0018] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the underwater acoustic communication method of the underwater acoustic communication network described in the first aspect.

[0019] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0020] The present application provides an underwater acoustic communication method, system, device and medium based on an underwater acoustic communication network. By improving the node adjacency matrix, the adjacency node set, interference node set and non-interference node set of each underwater node are re-determined, solving the problem that there is interference even though each underwater node is not adjacent; based on the adjacency 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 in the routing layer of the underwater acoustic communication network, realizing the direct selection of multiple interference-free data transmission paths in the network, thereby reducing the interference level between underwater nodes and improving the quality of data transmission; at the same time, 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, further improving the quality of data transmission and enhancing the transmission quality of the final underwater acoustic communication network. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a schematic flow chart of an underwater acoustic communication method based on an underwater acoustic communication network;

[0023] Figure 2 For the application Figure 1 The detailed flow chart;

[0024] Figure 3 It is a schematic diagram of the data packet structure;

[0025] Figure 4 It is a schematic diagram of the structure of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0027] In order to make the above objects, features and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0028] In an exemplary embodiment, as Figure 1 shown, a video tag processing method is provided. This method is executed by a computer device, specifically, it can be executed alone by a computer device such as a terminal or a server, or jointly executed by a terminal and a server. In the embodiments of this application, taking the application of this method to a server as an example for illustration, it includes the following steps 1 to 5. Among them:

[0029] Step 1: Obtain the distances between underwater nodes in an underwater acoustic communication network; the underwater nodes include: a source node, a destination node, and multiple intermediate nodes.

[0030] Specifically, first initialize the underwater acoustic communication network, enable the shore-based host to communicate with the underwater nodes, and let the underwater nodes collect the positions of each other underwater nodes, providing a basis for establishing an improved node adjacency matrix.

[0031] Step 2: Determine an improved node adjacency matrix based on the distances.

[0032] Specifically, the elements in the improved node adjacency matrix include 0, 1, -1, and 2; the element 0 indicates that the distance d between underwater nodes is 0; the element 1 indicates that there is a connection between underwater nodes, and 0 < d ≤ , is the corrected transmission distance between underwater nodes; the element -1 indicates that there is no connection between underwater nodes, and < d ≤ , is the interference distance between underwater nodes; the element 2 indicates that there is no connection between underwater nodes, and d > .

[0033] When the distance between underwater node and underwater node is equal to or close to the maximum value of the communication distance range, the communication between underwater node and underwater node is easily affected by sudden noises such as marine biological noises and ship noises, resulting in communication failures. Therefore, in this application, by considering the communication critical situation, an error threshold is introduced into the maximum communication distance between underwater nodes. When the distance between underwater node and underwater node is within the corrected transmission distance , that is, when is satisfied, the adjacency matrix element between the underwater nodes is . Among them, the calculation formula for the corrected transmission distance is:

[0034] .

[0035] Among them, is the maximum communication distance between underwater nodes, is the error threshold.

[0036] Calculate the improved node adjacency matrix through the distance between underwater nodes , which characterizes the interference relationship between underwater nodes in the underwater acoustic communication network. 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 relationship between underwater nodes, adds two elements to describe the interference phenomenon between underwater nodes, namely the elements and . means that underwater node is within the interference range of underwater node , but outside the connectivity range of underwater node ; means that underwater node is outside the interference range of underwater node .

[0037] Step 3: Determine the set corresponding to each underwater node based on the improved node adjacency matrix; the set includes: adjacent node set, interfering node set, and non-interfering node set.

[0038] Specifically, according to the improved node adjacency matrix, the neighbor node set of underwater node , the interfering node set of underwater node , and the non-interfering node set of underwater node can be obtained.

[0039] Step 4: Based on the set corresponding to each underwater node, the source node, and the destination node, use Dijkstra's algorithm to determine the data transmission path in the routing layer of the underwater acoustic communication network, and at the same time determine the transmission time slot in the MAC layer of the underwater acoustic communication network; the transmission time slot is the transmission time of each underwater node in the data transmission path.

[0040] Furthermore, in order to reduce the interference between paths, multiple multi-hop data transmission paths in the routing layer are determined according to the neighbor node set, interfering node set, and non-interfering node set calculated in Step 3, and the transmission time slots are directly assigned to the underwater nodes on each data transmission path in sequence.

[0041] Specifically, there are multiple data transmission paths; among them, for the Nth data transmission path, based on the set of each underwater node, the source node, and the destination node, use Dijkstra's algorithm to determine the Nth data transmission path in the routing layer of the underwater acoustic communication network, which specifically includes:

[0042] Based on the set corresponding to each underwater node and the first N - 1 data transmission paths, determine the relay node set; the relay node set is the set of nodes where the remaining underwater nodes have no interference with the underwater nodes in the first N - 1 data transmission paths; where N>1, and the first data transmission path is the shortest transmission path from the source node to the destination node.

[0043] Based on the source node, the destination node, and the relay node set, use Dijkstra's algorithm to determine the Nth data transmission path.

[0044] Specifically, determining the transmission time slots of the MAC layer in the underwater acoustic communication network specifically includes:

[0045] According to the distance between underwater nodes, the length of the data packet, the transmission rate of the data packet, and the redundancy time, determine the transmission time slots of the MAC layer in the underwater acoustic communication network, and allocate the transmission time slots to the underwater nodes in the corresponding data transmission path; the data packet is a data packet of underwater acoustic data.

[0046] Specifically, allocating the transmission time slots to the underwater nodes in the corresponding data transmission path specifically includes: allocating the transmission time slots to the underwater nodes in the corresponding data transmission path according to the sequence of the data transmission path and the sequence of the underwater nodes in the data transmission path.

[0047] For the determination of the data transmission path and the transmission time slots in step 4, a specific embodiment is provided, taking two data transmission paths as an example. Since the shortest path between the source node and the destination node occupies the shortest time of the shared channel and introduces less network interference, it can increase the opportunity and time for other underwater nodes in the network to access the limited channel resources. Based on the above considerations, use Dijkstra's algorithm to calculate the shortest path between the source node and the target node, and use this path as the first data transmission path in the routing layer. At the same time, record the first data transmission path as , where is the number of underwater nodes in representing the first data transmission path the th sending underwater node in After obtaining the first data transmission path , allocate the transmission time slots to the transmitting underwater nodes in the first data transmission path in sequence, that is, the time for each transmitting underwater node to use the shared channel. After that, determine the second data transmission path. Let represent the second data transmission path, where, is the number of underwater nodes in is the second-hop data transmission path in the The transmitting underwater nodes that jump. To enable both data transmission paths to successfully transmit data from the source node to the destination node, that is, the second data transmission path has no interference with the first data transmission path, the transmitting underwater nodes in the second data transmission path should satisfy the condition should satisfy the condition . In addition, should also satisfy the condition . Therefore, should be selected from the interference-free relay node set . In addition, if , it means that there are no transmitting underwater nodes in the underwater acoustic communication network at the current transmission moment that have no interference with the first data transmission path. In this case, the corresponding transmitting underwater nodes in the second data transmission path need to perform a backoff operation; if , the only element in will be selected as , and will be arranged to transmit data simultaneously with the first transmission path at the current moment; if , the element with the longest forward distance in will be selected as G . Among them, the forward distance is defined as the forward distance of the data packet in the direction from the source node to the destination node, that is, the projected length of the transmission link in the direction from the source node to the destination node. The above process will be repeated until ( is the destination node) or traversing to the last time slot used by the first data transmission path . If at the last time slot and G , this method will take the shortest path between

[0048] Step 5: Based on the data transmission path and the transmission time slot, transmit the underwater acoustic data to complete the underwater acoustic communication.

[0049] In an exemplary embodiment, the method of steps 1 - 5 of the present application is adopted to transmit the underwater acoustic data to complete the underwater acoustic communication. The specific flowchart is as Figure 2 shown. First, step 1 of the present application is completed through network initialization; then, the improved adjacency matrix is established to complete steps 2 and 3 of the present application; then, multi-path routing determination is performed, specifically including: transmission path calculation (i.e., calculating the data transmission path) and transmission time slot allocation to complete step 4 of the present application; finally, in the data transmission stage, the data transmission path, the transmission time slot, and the underwater acoustic data are embedded into the forwarding data packet (i.e.,Figure 2 (in the case of a packetized data message), an underwater node in the underwater acoustic communication network extracts path information from the received data packet and performs corresponding operations to complete step 5 of this application through underwater acoustic communication.

[0050] The structure of the data packet is as Figure 3 shown. The structure of the data packet includes a start delimiter, a packet header, and packet data. Among them, the start delimiter part marks the start of the message. The packet header and packet data parts contain necessary control information (i.e., the data transmission path and transmission time slot) and the data to be transmitted (i.e., underwater acoustic data), respectively. The packet header further includes the following parts: the message type indicates the type of the transmitted message, which is used to distinguish data packets and control packets; the message length indicates the length of the transmitted message; the message ID indicates the ID of the transmitted message; the receiving node ID indicates the ID of the underwater node to which the transmitted 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; and the checksum indicates the cyclic redundancy check code, which is used to detect or verify possible errors during data transmission. When an underwater node detects a data packet, it first determines whether the data packet is sent to itself by comparing its ID with the ID stored in the data packet. If they are 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.

[0051] The beneficial effects of an underwater acoustic communication method based on an underwater acoustic communication network proposed in this application are mainly manifested in:

[0052] (1) This application proposes an improved node adjacency matrix to describe the interference relationship between paths. By directly selecting multiple non-interfering or weakly interfering transmission paths in the underwater acoustic communication network, the interference level between nodes is reduced, thereby improving the reliability of data transmission. By determining the adjacent node set, interfering node set, and non-interfering node set of each underwater node, the problem that each underwater node is not adjacent but still has interference is solved, thus providing a reliable selection basis for determining the data transmission path.

[0053] (2) Based on the adjacent node set, interfering node set, non-interfering node set, source node, and destination node of each underwater node, this application uses the Dijkstra algorithm to determine the data transmission path. By directly selecting non-interfering nodes, multiple non-interfering data transmission paths in the network are selected, thereby reducing the interference level between underwater nodes and improving the quality of data transmission.

[0054] (3) By arranging the transmission time for each underwater node in the data transmission path through the MAC layer, the interference and conflicts between multiple data transmission paths can be further reduced, and the data transmission delay can be decreased, thereby improving the reliability of data transmission and enhancing the transmission quality of the underwater acoustic communication network.

[0055] Based on the same inventive concept, an embodiment of the present application also provides an underwater acoustic communication system for implementing the above-mentioned underwater acoustic communication network. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the underwater acoustic communication system based on the underwater acoustic communication network provided below can refer to the limitations on the underwater acoustic communication method based on the underwater acoustic communication network in the above text, and will not be repeated here.

[0056] In an exemplary embodiment, an underwater acoustic communication system based on the underwater acoustic communication network is provided, including:

[0057] An acquisition module, configured to acquire 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.

[0058] An improvement module, configured to determine an improved node adjacency matrix based on the distances.

[0059] A set generation module, configured 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.

[0060] A data transmission path and transmission time slot determination module, configured to determine the data transmission path in the routing layer of the underwater acoustic communication network and determine the transmission time slot in the MAC layer of the underwater acoustic communication network based on the set corresponding to each underwater node, the source node, and the destination node, using Dijkstra's algorithm; the transmission time slot is the transmission time of each underwater node in the data transmission path.

[0061] A data transmission module, configured to transmit underwater acoustic data based on the data transmission path and the transmission time slot to complete underwater acoustic communication.

[0062] As an optional implementation manner, the data transmission path and transmission time slot determination module includes:

[0063] A relay node set determination unit, configured to determine a 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 set of nodes where the remaining underwater nodes have no interference with the underwater nodes in the first N - 1 data transmission paths; where N > 1, and the first data transmission path is the shortest transmission path from the source node to the destination node.

[0064] A data transmission path determination unit, configured to determine the Nth data transmission path based on a source node, a destination node, and a set of relay nodes by using Dijkstra's algorithm.

[0065] A transmission time slot determination and allocation unit, configured to determine the transmission time slots of the MAC layer in the underwater acoustic communication network according to the distances between underwater nodes, the lengths of data packets, the transmission rates of data packets, and the redundant time, and allocate the transmission time slots to the underwater nodes in the corresponding data transmission paths; the data packets are data packets of underwater acoustic data.

[0066] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal, and its internal structural diagram may be as Figure 4 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, 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. Among them, the processor of the computer device is configured 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 external devices. 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, it implements an underwater acoustic communication method based on an underwater acoustic communication network.

[0067] Those skilled in the art can understand that Figure 4 the structure shown in

[0068] is only a block diagram of some structures 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 some components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0069] 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 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 need to comply with relevant regulations.

[0070] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, database, or other medium used in the various embodiments provided in this application can include at least one of non-volatile and volatile memories. 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 can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0071] The databases involved in the various embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the various embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0072] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0073] In this text, specific examples are used to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application. At the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present 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; 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; 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≤D T , D T is the corrected transmission distance between underwater nodes; Element -1 means that the underwater nodes are not connected, and D T <d≤D I , D I is the interference distance between underwater nodes; Element 2 indicates that the underwater nodes are not connected and d>D I .

3. The underwater acoustic communication method based on the underwater acoustic communication network according to claim 2, characterized in that: The corrected transmission distance D T The calculation formula is: D T =D M -x d ; Among them, D M is the maximum communication distance between underwater nodes, ξ d is the error threshold.

4. 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.

5. The underwater acoustic communication method based on the underwater acoustic communication network according to claim 4, 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.

6. 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 5, 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 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; 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.

7. The underwater acoustic communication system based on the underwater acoustic communication network according to claim 6, characterized in that: The data transmission path and transmission time slot determination module also includes: 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.

8. 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 5.

9. 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 5 is implemented.

Images