Underwater time-varying communication channel modeling method and system
By introducing dynamic environmental influence parameters into the underwater acoustic communication channel modeling, an underwater time-varying communication channel model was constructed, which solved the problem of insufficient prediction accuracy caused by the time-varying nature of the underwater communication environment and improved the accuracy of communication capability prediction.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- 汉江国家实验室
- Filing Date
- 2026-02-02
- Publication Date
- 2026-05-15
AI Technical Summary
Existing underwater acoustic communication channel modeling methods cannot effectively handle the time-varying nature of the underwater communication environment, resulting in insufficient accuracy in communication capability prediction, especially in collaborative operation tasks where there are significant errors.
Based on the static channel model, dynamic environmental influence parameters, such as random shift variables, scattering fading coefficients, wave undulation delay offsets, and platform motion delay offsets, are introduced to construct an underwater time-varying communication channel model. The modeling accuracy is improved through time-scale statistical analysis methods.
It significantly improves the accuracy of underwater acoustic communication capability prediction simulation, supports communication performance prediction in dynamic environments, and reduces the success rate error of communication tasks.
Smart Images
Figure CN122052947A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of underwater acoustic engineering technology, and more specifically, relates to a method and system for modeling underwater time-varying communication channels. Background Technology
[0002] The underwater environment is complex and opaque, and underwater collaborative operations rely heavily on external information support. Ensuring robust and efficient communication links is crucial for the effective operation of task groups. Therefore, to ensure the feasibility and reliability of mission plans, it is necessary to make the most accurate predictions of the target link communication performance based on the hypothetical inputs. Signal-level communication performance simulation requires high-precision underwater communication channel modeling.
[0003] Underwater acoustic communication commonly uses mid-to-high frequency bands (above 4kHz). The most common method for underwater acoustic multipath channel models applicable to this band is Bellhop, based on ray tracing theory. This method can provide approximate and numerical solutions for wave equations under deterministic channel geometry and signal frequencies. However, it only supports static multipath channel modeling, meaning the channel's time-domain impulse response does not change over time. Therefore, if only using Bellhop to generate static channels for capability prediction simulations, the assumption of time-invariance of the channel during a single communication session is required. This leads to significant errors between the prediction results and the actual capabilities. This is because time-varying disturbances in spatial location and relative shifts between platforms are frequent and random in collaborative operation scenarios. Within the mid-to-high frequency communication band, even small disturbances and shifts can significantly impact the instantaneous channel gain, affecting the transmission of millisecond-level individual communication data frames. Furthermore, within the entire single communication session (typically lasting several seconds), large spatial time-varying disturbances will significantly alter the statistical characteristics of the current channel, thus affecting the success rate of the communication task. Summary of the Invention
[0004] This invention provides a method and system for modeling underwater time-varying communication channels, addressing the problem that the accuracy of underwater acoustic communication capability prediction simulation in existing technologies needs improvement.
[0005] This invention provides a method for modeling underwater time-varying communication channels, comprising the following steps: Under the time-invariant channel assumption, a static model characterizing the multipath channel of underwater acoustic communication is constructed; Based on the static model, dynamic environmental influence parameters are introduced to obtain an underwater time-varying communication channel model; The dynamic environmental impact parameters include some or all of the following parameters: random shift variable, scattering fading coefficient, wave undulation delay offset, and platform motion delay offset. The random shift variable is used to characterize time-varying spatial statistical characteristics, the scattering fading coefficient is used to characterize the scattering path fading caused by scattering phenomena, and the wave undulation delay offset and the platform motion delay offset are used to characterize the impact of wave undulation and platform motion on the scattering path delay, respectively.
[0006] Preferably, the static model is an impact sequence determined by the amplitude and time delay, represented as follows:
[0007] In the formula, H This is the total channel transfer function corresponding to the static model. For the first time under the time-invariant channel assumption n The magnitude of the path, For the first time under the time-invariant channel assumption n The delay of the path, N is the maximum number of paths. The center frequency.
[0008] Preferably, the first under the time-invariant channel assumption n The magnitude of each path is represented as follows:
[0009] In the formula, The reflection coefficient after a single path passes through the interface. For the first n The length of the path, k For diffusion factor, Center frequency The absorption factor at that location.
[0010] Preferably, when the random shift variable is introduced, the first n The magnitude of each path is represented as follows:
[0011]
[0012] When the random shift variable is introduced, the first n The delay of each path is represented as follows:
[0013] In the formula, When introducing random shift variables, the first n The magnitude of the path, When introducing random shift variables, the first n The delay of the path, Let c be a random shift variable, and let c be the speed of sound in the ocean.
[0014] Preferably, when the random shift variable and the scattering fading coefficient are introduced, the resulting channel transfer function is expressed as follows:
[0015]
[0016] In the formula, To introduce random shift variables and scattering fading coefficients into the channel transfer function, The normalized scattering fading coefficient is... For the first n Scattering path amplitude, For the first n The time delay difference between the scattering path and the main path.
[0017] Preferably, when the random shift variable, the scattering fading coefficient, the wave undulation delay offset, and the platform motion delay offset are introduced, the relative scattering path delay, scattering fading coefficient, and channel transfer function of the underwater time-varying communication channel model at the current simulation moment are expressed as follows:
[0018]
[0019]
[0020] In the formula, To introduce random shift variables, scattering fading coefficients, wave undulation time delay offsets, and platform motion time delay offsets at the current simulation time... t The relative time delay of the scattering path under the following conditions In order to at the current simulation moment t The time delay offset of the undulation of the ocean waves. In order to at the current simulation moment t Platform motion delay offset To introduce random shift variables, scattering fading coefficients, wave undulation time delay offsets, and platform motion time delay offsets at the current simulation time... t The scattering fading coefficient under the following conditions To introduce random shift variables, scattering fading coefficients, wave undulation time delay offsets, and platform motion time delay offsets at the current simulation time... t The channel transfer function under [the specified conditions].
[0021] Preferably, at the current simulation time t The time delay offset of the ocean wave fluctuations is represented as follows:
[0022]
[0023] At the current simulation time t The platform motion delay offset is represented as follows:
[0024]
[0025] In the formula, The average wave height, Radial velocity, Let be the angle between the incident direction and the horizontal plane. The wave-like undulation cycle The relative velocity along this path, v The actual speed of the platform's movement. This is the angle between the path and the direction of motion.
[0026] Preferred, The mean is variance is Complex Gaussian variables.
[0027] Preferably, To simplify the recursive sequence, it is represented as follows:
[0028] In the formula, For the recursive output of the next time step, For simulating time slots, To recursively calculate the coefficients, For recursion, It is a random error sequence.
[0029] On the other hand, the present invention provides an underwater time-varying communication channel modeling system, comprising: The static model building unit is used to construct a static model characterizing the multipath channel of underwater acoustic communication under the time-invariant channel assumption. The time-varying model construction unit is used to introduce dynamic environmental influence parameters on the basis of the static model to obtain an underwater time-varying communication channel model; The underwater time-varying communication channel modeling system is used to perform the steps in the underwater time-varying communication channel modeling method described above.
[0030] One or more technical solutions provided in this invention have at least the following technical effects or advantages: This invention, based on a simplified analytical expression (i.e., a static model) characterizing the amplitude and time delay of multipath channels in underwater acoustic communication, introduces dynamic environmental influence parameters. For example, it introduces random shift variables to characterize the time-varying spatial statistical characteristics caused by transmitter / receiver position fluctuations and changes in seabed topography; it introduces a scattering fading coefficient to characterize the scattering path fading caused by scattering phenomena under rough surfaces or interface undulations; and it introduces wave undulation time delay offsets and platform motion time delay offsets to characterize the impact of wave undulations and platform motion on scattering path time delay. In other words, this invention differs from traditional time-invariant communication channel modeling methods in underwater acoustic communication by proposing a modeling scheme that incorporates time-varying spatial shifts, scattering path fading, wave undulation time delay offsets, and platform motion time delay offsets, based on a static channel structure, to perform time statistical analysis of multipath amplitude and time delay disturbances. This invention introduces time-scale statistical analysis methods to construct a time-varying communication channel model that supports dynamic environmental inputs, significantly improving the accuracy of underwater acoustic communication capability prediction simulations. Attached Figure Description
[0031] Figure 1 This is a schematic diagram of the overall process of an underwater time-varying communication channel modeling method provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the scattering path; Figure 3 This is a schematic diagram illustrating the path delay caused by periodic fluctuations in the sea surface. Figure 4 This is a schematic diagram illustrating the path delay caused by the relative motion of the platform. Figure 5 A schematic diagram of shallow sea time-varying channel modeling under conditions of no sea surface undulation; Figure 6 A schematic diagram of shallow sea time-varying channel modeling under conditions of sea surface undulation; Figure 7 A schematic diagram of shallow sea time-varying channel modeling under conditions of sea surface undulation and relative velocity; Figure 8 This is a schematic diagram of shallow sea time-varying channel modeling under conditions of sea surface undulation and relative acceleration. Detailed Implementation
[0032] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.
[0033] Example 1: Example 1 provides a method for modeling underwater time-varying communication channels, see [link to example]. Figure 1 This includes the following steps: Under the time-invariant channel assumption, a static model characterizing the multipath channel of underwater acoustic communication is constructed; Based on the static model, dynamic environmental influence parameters are introduced to obtain an underwater time-varying communication channel model; The dynamic environmental impact parameters include some or all of the following parameters: random shift variable, scattering fading coefficient, wave undulation delay offset, and platform motion delay offset. The random shift variable is used to characterize time-varying spatial statistical characteristics, the scattering fading coefficient is used to characterize the scattering path fading caused by scattering phenomena, and the wave undulation delay offset and the platform motion delay offset are used to characterize the impact of wave undulation and platform motion on the scattering path delay, respectively.
[0034] Example 1, while supporting the input of hydrological environmental parameters required by existing traditional modeling methods, introduces dynamic environmental impact parameters, which can generate the channel multipath structure history and instantaneous channel gain within a few seconds of a single communication behavior covering the target sea area, and can provide support for underwater communication performance forecasting under time-varying channel conditions.
[0035] The static model is an impact sequence determined by the amplitude and time delay, as shown below:
[0036] In the formula, H This is the total channel transfer function corresponding to the static model. For the first time under the time-invariant channel assumption n The magnitude of the path, For the first time under the time-invariant channel assumption n The delay of the path, N is the maximum number of paths. The center frequency.
[0037] The first under the time-invariant channel assumption n The magnitude of each path is represented as follows:
[0038] In the formula, The reflection coefficient after a single path passes through the interface. For the first n The length of the path, k For diffusion factor, Center frequency The absorption factor at that location.
[0039] When the random shift variable is introduced, the first n The magnitude of each path is represented as follows:
[0040]
[0041] When the random shift variable is introduced, the firstn The delay of each path is represented as follows:
[0042] In the formula, When introducing random shift variables, the first n The magnitude of the path, When introducing random shift variables, the first n The delay of the path, Let c be a random shift variable, and let c be the speed of sound in the ocean.
[0043] Introducing the random shift variable and the scattering fading coefficient, the resulting channel transfer function is expressed as follows:
[0044]
[0045] In the formula, To introduce random shift variables and scattering fading coefficients into the channel transfer function, The normalized scattering fading coefficient is... For the first n Scattering path amplitude, For the first n The time delay difference between the scattering path and the main path.
[0046] When the random shift variable, the scattering fading coefficient, the wave undulation delay offset, and the platform motion delay offset are introduced, the relative scattering path delay, scattering fading coefficient, and channel transfer function of the underwater time-varying communication channel model at the current simulation moment are expressed as follows:
[0047]
[0048]
[0049] In the formula, To introduce random shift variables, scattering fading coefficients, wave undulation time delay offsets, and platform motion time delay offsets at the current simulation time... t The relative time delay of the scattering path under the following conditions In order to at the current simulation moment t The time delay offset of the undulation of the ocean waves. In order to at the current simulation moment t Platform motion delay offset To introduce random shift variables, scattering fading coefficients, wave undulation time delay offsets, and platform motion time delay offsets at the current simulation time... t The scattering fading coefficient under the following conditions To introduce random shift variables, scattering fading coefficients, wave undulation time delay offsets, and platform motion time delay offsets at the current simulation time... t The channel transfer function under [the specified conditions].
[0050] Wherein, at the current simulation time t The time delay offset of the ocean wave fluctuations is represented as follows:
[0051]
[0052] At the current simulation time t The platform motion delay offset is represented as follows:
[0053]
[0054] In the formula, The average wave height, Radial velocity, Let be the angle between the incident direction and the horizontal plane. The wave-like undulation cycle The relative velocity along this path, v The actual speed of the platform's movement. This is the angle between the path and the direction of motion.
[0055] in, The mean is variance is Complex Gaussian variables.
[0056] For ease of implementation, it can be To simplify the recursive sequence, it is represented as follows:
[0057] In the formula, For the recursive output of the next time step, For simulating time slots, To recursively calculate the coefficients, For recursion, It is a random error sequence.
[0058] The following section uses all parameters from the dynamic environmental impact parameters, including random shift variables, scattering fading coefficients, wave undulation time delay offsets, and platform motion time delay offsets, as examples to further elaborate on the present invention.
[0059] (I) Analytical modeling of multipath channel structure.
[0060] Underwater acoustic communication multipath channels consist of multiple channels of length... The propagation path consists of, N is the maximum number of paths, and each path can be considered as a low-pass filter. Delay , For the arrival time of the first multipath, the total channel transfer function The model can be modeled as follows: (1) in, k For diffusion factors (such as shallow sea column expansion) k =2, Deep-sea spherical expansion k =3), For frequency point f Absorption factor at the location, The reflection coefficient after a single path passes through the interface is given by the reflection coefficients of the sea surface and seabed. and To distinguish and represent, among which the ideal sea surface reflectance The single seabed reflection coefficient is as follows: (2) In the formula, For the first n The glancing angle of each propagation path; ρ and c These are the density of seawater and the speed of sound, respectively. and These are the seabed density and the speed of sound, respectively.
[0061] Because it is within the underwater acoustic communication frequency band The value is very close to 1, and The values are typically in the hundreds (km), so they can be approximated: Among them, the ones that can be taken That is, center frequency The absorption factor (constant) at the given location can be simplified from equation (1) to: (3) Multipath channel structure modeling can be simplified to amplitude With delay The determined shock sequence.
[0062] (II) Time-varying spatial displacement modeling.
[0063] Within the communication timeframe (typically within seconds), fluctuations in transmitter / receiver position and changes in seabed topography can cause shifts in the spatial structure of the channel, resulting in deviations in path lengths. , It is a random shift variable, and the time delay Then the single-path magnitude gain is: (4) In general scenarios, and Therefore, it can be approximated as: (5) Therefore, we can conclude that: (6) in, and Both are affected by path length variables Impact. It can... Modeling with variance The Gaussian distribution.
[0064] (III) Modeling of scattering path fading coefficient.
[0065] Under the time-invariant channel assumption, the... n The sound ray, after being reflected by the interface, forms a stable path. In the detailed explanation section (I), the amplitude of this path is... The time delay is In the expanded explanation section (II), considering the influence of time-varying spatial shift, the characteristic parameters of this path under the influence of random variables are obtained as follows: and Scattering caused by rough surfaces or interface undulations is also one of the main reasons for random signal variations. In addition to the main reflection path, interface scattering decomposes into multiple scattering paths, such as... Figure 2 As shown, the whole follows a Rice distribution.
[0066] set up The scattering path amplitude is given by the micropath delay. ,in This represents the time delay difference between the scattering path and the main path. Since the scattering phenomenon occurs on a very small scale (within one wavelength), although the gain values of the scattering paths are relatively close, the significant phase difference will cause a significant change in the fading coefficient on a small scale.
[0067] Without loss of generality, the scattering path amplitude is set to a constant in this method. The normalized scattering fading coefficient is defined as follows: (7) Furthermore, by superimposing all multipath paths within the channel, the expression for the channel transfer function can be obtained as follows: (8) (iv) Modeling of relative time delay of scattering path.
[0068] For the relative time delay of the scattering path Let its mean be 0 and its variance be . Gaussian distribution and: (9) in, and These represent the number of reflections from the sea surface, i.e., the seabed. and These represent the variances of the sea surface and the seabed, respectively.
[0069] Due to the undulations of the channel surface, micro-Doppler occurs during reflection (scattering). The total system simulation time is divided into sections of length... time series array , t At the current simulation moment, the time delay offset caused by wave fluctuations can be modeled as follows: (10) In the formula, The average wave height, Radial velocity, Let be the angle between the incident direction and the horizontal plane. This refers to the wave's undulation cycle. See also... Figure 3 radial velocity .
[0070] On the other hand, see Figure 4 , This represents the relative velocity along a certain path. This is the angle between the path and the direction of motion. (From...) The different time delay offsets at different times due to the influence of motion can be obtained.
[0071] Taking into account the effects of wave undulation and relative motion, the relative time delay of the scattering path at the current simulation moment can be obtained as follows: (11) Then, the scattering fading coefficient under the combined influence of multiple factors can be calculated by substituting into equation (7) as follows: (12) therefore, The mean is The variance is The complex Gaussian variable. Where: (13) In the formula, a This represents the number of scattering paths.
[0072] Therefore, the final expression for the channel transfer function can be obtained as follows: (14) The effects of each factor are specifically manifested in the channel pseudo-color map as the "tilt" and "bend" of the path, such as... Figures 5 to 8 As shown. Among them, Figure 5 A schematic diagram of shallow sea time-varying channel modeling under conditions of no sea surface undulation; Figure 6 A schematic diagram of shallow sea time-varying channel modeling under conditions of sea surface undulation; Figure 7 A schematic diagram of shallow sea time-varying channel modeling under conditions of sea surface undulation and relative velocity; Figure 8 This is a schematic diagram of shallow sea time-varying channel modeling under conditions of sea surface undulation and relative acceleration.
[0073] (v) Simplified generation of scattering fading coefficient.
[0074] To facilitate the generation of recursion Sequence, let: (15) in, (16) In the formula, This indicates the recursive output at the next time step. For recursion, For simulating time slots, To recursively calculate the coefficients, , , for The 3dB bandwidth of the power spectral density It is a random error sequence. This represents a complex Gaussian variable.
[0075] In summary, this invention, based on a simplified analytical expression (i.e., a static model) characterizing the amplitude and time delay of multipath channels in underwater acoustic communication, introduces dynamic environmental influence parameters. It introduces random shift variables to characterize the time-varying spatial statistical characteristics caused by factors such as transmitter / receiver position fluctuations and seabed topography changes; introduces a scattering fading coefficient to characterize the scattering path fading caused by scattering phenomena under rough surfaces or interface undulations; and introduces wave undulation time delay offsets and platform motion time delay offsets to characterize the impact of wave undulations and platform motion on scattering path time delay. In other words, this invention differs from traditional time-invariant communication channel modeling methods in underwater acoustic communication by proposing a modeling scheme that incorporates time-varying spatial shifts, scattering path fading, wave undulation time delay offsets, and platform motion time delay offsets, based on a static channel structure, to perform time statistical analysis of multipath amplitude and time delay disturbances. This invention introduces time-scale statistical analysis methods to construct a time-varying communication channel model that supports dynamic environmental inputs, significantly improving the accuracy of underwater acoustic communication capability prediction simulations. Furthermore, this invention provides easily implemented simplified recursive sequences, facilitating more efficient and convenient prediction.
[0076] Example 2: Example 2 provides an underwater time-varying communication channel modeling system, comprising: The static model building unit is used to construct a static model characterizing the multipath channel of underwater acoustic communication under the time-invariant channel assumption. The time-varying model construction unit is used to introduce dynamic environmental influence parameters on the basis of the static model to obtain an underwater time-varying communication channel model; The underwater time-varying communication channel modeling system is used to perform the steps in the underwater time-varying communication channel modeling method as described in Example 1.
[0077] Since the functions of each unit in the underwater time-varying communication channel modeling system provided in Embodiment 2 correspond to the steps in the underwater time-varying communication channel modeling method provided in Embodiment 1, Embodiment 2 can be understood by referring to the description of Embodiment 1, and will not be repeated here.
[0078] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.
Claims
1. A method for modeling underwater time-varying communication channels, characterized in that, Includes the following steps: Under the time-invariant channel assumption, a static model characterizing the multipath channel of underwater acoustic communication is constructed. Based on the static model, dynamic environmental influence parameters are introduced to obtain an underwater time-varying communication channel model; The dynamic environmental impact parameters include some or all of the following parameters: random shift variable, scattering fading coefficient, wave undulation delay offset, and platform motion delay offset. The random shift variable is used to characterize time-varying spatial statistical characteristics, the scattering fading coefficient is used to characterize the scattering path fading caused by scattering phenomena, and the wave undulation delay offset and the platform motion delay offset are used to characterize the impact of wave undulation and platform motion on the scattering path delay, respectively.
2. The underwater time-varying communication channel modeling method according to claim 1, characterized in that, The static model is an impact sequence determined by amplitude and time delay, represented as follows: In the formula, H This is the total channel transfer function corresponding to the static model. For the first time under the time-invariant channel assumption n The magnitude of the path, For the first time under the time-invariant channel assumption n The delay of the path, N is the maximum number of paths. The center frequency.
3. The underwater time-varying communication channel modeling method according to claim 2, characterized in that, The first under the time-invariant channel assumption n The magnitude of each path is represented as follows: In the formula, The reflection coefficient after a single path passes through the interface. For the first n The length of the path, k For diffusion factor, Center frequency The absorption factor at that location.
4. The underwater time-varying communication channel modeling method according to claim 3, characterized in that, When the random shift variable is introduced, the first n The magnitude of each path is represented as follows: When the random shift variable is introduced, the first n The delay of each path is represented as follows: In the formula, When introducing random shift variables, the first n The magnitude of the path, When introducing random shift variables, the first n The delay of the path, Let c be a random shift variable, and let c be the speed of sound in the ocean.
5. The underwater time-varying communication channel modeling method according to claim 4, characterized in that, Introducing the random shift variable and the scattering fading coefficient, the resulting channel transfer function is expressed as follows: In the formula, To introduce random shift variables and scattering fading coefficients into the channel transfer function, The normalized scattering fading coefficient is... For the first n Scattering path amplitude, For the first n The time delay difference between the scattering path and the main path.
6. The underwater time-varying communication channel modeling method according to claim 5, characterized in that, When the random shift variable, the scattering fading coefficient, the wave undulation delay offset, and the platform motion delay offset are introduced, the relative scattering path delay, scattering fading coefficient, and channel transfer function of the underwater time-varying communication channel model at the current simulation moment are expressed as follows: In the formula, To introduce random shift variables, scattering fading coefficients, wave undulation time delay offsets, and platform motion time delay offsets at the current simulation time... t The relative time delay of the scattering path under the following conditions In order to at the current simulation moment t The time delay offset of the undulation of the ocean waves. In order to at the current simulation moment t Platform motion delay offset To introduce random shift variables, scattering fading coefficients, wave undulation time delay offsets, and platform motion time delay offsets at the current simulation time... t The scattering fading coefficient under the following conditions To introduce random shift variables, scattering fading coefficients, wave undulation time delay offsets, and platform motion time delay offsets at the current simulation time... t The channel transfer function under [the specified conditions].
7. The underwater time-varying communication channel modeling method according to claim 6, characterized in that, At the current simulation time t The time delay offset of the ocean wave fluctuations is represented as follows: At the current simulation time t The platform motion delay offset is represented as follows: In the formula, The average wave height, Radial velocity, Let be the angle between the incident direction and the horizontal plane. The wave-like undulation cycle The relative velocity along this path, v The actual speed of the platform's movement. This is the angle between the path and the direction of motion.
8. The underwater time-varying communication channel modeling method according to claim 6, characterized in that, The mean is variance is Complex Gaussian variables.
9. The underwater time-varying communication channel modeling method according to claim 8, characterized in that, Will To simplify the recursive sequence, it is represented as follows: In the formula, For the recursive output of the next time step, For simulating time slots, To recursively calculate the coefficients, For recursion, It is a random error sequence.
10. An underwater time-varying communication channel modeling system, characterized in that, include: The static model building unit is used to construct a static model characterizing the multipath channel of underwater acoustic communication under the time-invariant channel assumption. The time-varying model construction unit is used to introduce dynamic environmental influence parameters on the basis of the static model to obtain an underwater time-varying communication channel model; The underwater time-varying communication channel modeling system is used to perform the steps in the underwater time-varying communication channel modeling method as described in any one of claims 1 to 9.