42 results about "Underwater acoustic network" patented technology

The invention belongs to the field of underwater acoustic networks, and relates to underwater Internet of Things, underwater environment monitoring, resource development and marine ecological protection. In order to provide an overall architecture of a simulation platform and an implementation technology of a core module of the overall architecture, and further enhance the simulation capability of an underlying protocol and a physical channel on the basis of being compatible with a standard network protocol stack and supporting seamless deployment of an existing application program, the invention provides an underwater Internet of Things semi-physical simulation system based on a container. Comprising a terminal host, a gateway node with underwater sound and wired network communication capabilities, and a plurality of real nodes which can be deployed underwater and have underwater sound communication capabilities, and an MAC simulation module and a channel simulation module are deployed on the terminal host and are used for constructing a simulation environment; and the semi-physical simulation interfaces are simultaneously deployed on the terminal host and the gateway node, so that traffic mapping in a simulation environment of the gateway node and the terminal host is realized. The method is mainly applied to design and manufacturing occasions of an underwater Internet of Things simulation system.

The invention discloses a marine phytoplankton abundance monitoring method based on data driving and an underwater acoustic network, and the method comprises the steps: building and training a multi-level spatial-temporal feature integration model based on the historical marine phytoplankton abundance and the corresponding marine environment data, and solving the optimal spatial position and monitoring time window of an underwater acoustic network node; constructing a teacher model which comprises a multi-layer cascade structure and a residual module and is used for channel prediction, and compressing the teacher model into a student model by adopting spatio-temporal knowledge distillation; the student model is trained, and channel state real-time prediction is realized at the underwater acoustic network node; on the basis of the optimal spatial position of an underwater acoustic network node and a real-time predicted channel state, adaptive underwater acoustic communication models and seasonal optimal routing strategies are matched, adaptive modulation and coding are executed at a link level, and monitoring of abundance of phytoplankton is completed based on an underwater acoustic network. According to the invention, the data throughput and prediction precision can be improved under strict energy consumption constraints.

The present invention discloses an intelligent positioning method and system for an underwater vehicle with enhanced sparse underwater acoustic ranging, wherein the positioning method includes: obtaining the global reconstruction matrix of the underwater acoustic network; obtaining the mapping matrix \(w_{u}\) of the time of arrival of the underwater acoustic signal and the mapping matrix \(w_{v}\) of the position of the underwater acoustic network, as well as the eigenvalues of the matrix \((w_{u}, w_{v})\); obtaining the measured value of the position of the underwater acoustic transponder and the measured value of the distance from the underwater acoustic transponder to the underwater acoustic base station; using an improved genetic algorithm to optimize the position of the underwater acoustic transponder to obtain an estimated value of the position of the underwater acoustic transponder, and further obtaining the position coordinate value of the underwater vehicle. This method solves the problem that the positioning accuracy of the vehicle is greatly affected by measurement uncertainty under sparse underwater acoustic signals in existing underwater acoustic positioning.

The application discloses a kind of space multiplexing time slot allocation method and system based on underwater acoustic channel conflict matrix, first according to underwater acoustic transmission link model, the link signal receiving success probability in underwater acoustic network is calculated;Second, according to underwater network topology information and link signal receiving success probability, generate channel conflict matrix;Then, construct time slot allocation matrix is used to mark node occupies time slot situation, from time slot conflict situation, time slot occupancy and allocation uniformity angle, to time slot allocation construct multi-objective optimization function;Finally, according to underwater acoustic channel conflict matrix and time slot allocation matrix, through global search, find the optimal solution of time slot allocation.The application comprehensively considers the allocation of underwater channel resources from three aspects of time slot conflict, time slot utilization and time slot allocation uniformity, establishes an effective fitness evaluation mechanism, can make full use of channel resources, and improves underwater acoustic communication performance.

The embodiment of the invention discloses an effective resource scheduling method and device for an underwater acoustic wireless communication network, equipment and a medium, and relates to the technical field of underwater acoustic communication resource scheduling. The method comprises the following steps: if a data sending request sent by a node is received, determining a transmission time window of the node based on the data sending request; judging whether a conflict node having a communication conflict with the node exists based on the transmission time window of the node; and if the conflict node having the communication conflict with the node exists, determining the back-off time of the node, and controlling the node to send data after the back-off time. According to the method, the resource utilization rate of the underwater acoustic network is remarkably optimized by dynamically planning the node transmission time window and actively pre-judging the communication conflict. According to the method, data packet conflicts can be avoided, and accuracy, reliability and high efficiency of data transmission in an underwater acoustic communication network are guaranteed.

The invention relates to the technical field of underwater acoustic networks, in particular to an underwater unequal importance data transmission method based on an extended window ROFC-LF code, which realizes unequal error protection UEP characteristics in an establishment stage and a completion stage respectively through an extended window strategy and a mode of encoding and decoding according to a set priority sequence; in the establishment stage and the completion stage, the coding overhead during data transmission is reduced through a loop avoidance algorithm and a method for feeding back any one ID in an undecoded component; and meanwhile, accurate control on feedback is realized through a feedback strategy based on a pre-generated sequence. The method not only accelerates the recovery of important data, but also realizes the accurate control of feedback, and is suitable for the UANs with dynamically changed topological structures.

The invention provides an underwater acoustic network online fountain code method, a sender device and a receiver device, and the method adopts a dynamic rule coding strategy of rule coding and random coding to generate a rule degree 2 coding packet, a random degree 2 coding packet and a random degree 1 coding packet, and random coding dynamically adjusts coding redundancy based on channel conditions, and two coding modes are dynamically fused, so that the decoding overhead can be effectively reduced, the feedback frequency is reduced, and the overall time delay is reduced. In the decoding stage, the feedback information in the feedback packet is fully utilized to remarkably improve the decoding efficiency, the optimal coding set information contained in the feedback packet can reflect the decoding state of a receiver more efficiently, the useful probability of the coding packet in the decoding process is improved, and the overall decoding overhead is reduced. According to the invention, the sender can estimate the channel state in real time and adaptively determine the redundant data sending amount, thereby realizing effective control of the decoding overhead, improving the decoding efficiency and reducing the number of feedback times.

This invention discloses a data-driven method for monitoring marine phytoplankton abundance using underwater acoustic networks. The method includes: constructing and training a multi-level spatiotemporal feature ensemble model based on historical marine phytoplankton abundance and corresponding marine environmental data to determine the optimal spatial location and monitoring time window of the underwater acoustic network nodes; constructing a teacher model for channel prediction, including a multi-layer cascaded structure and residual modules, and compressing the teacher model into a student model using spatiotemporal knowledge distillation; training the student model to achieve real-time channel state prediction at the underwater acoustic network nodes; matching suitable underwater acoustic communication devices and seasonal optimal routing strategies to each underwater acoustic network node based on the optimal spatial location and real-time predicted channel state, and performing adaptive modulation and coding at the link level, while simultaneously monitoring phytoplankton abundance using the underwater acoustic network. This invention can improve data throughput and prediction accuracy under strict energy consumption constraints.

This application relates to a method, system, and medium for simulating the physical layer of an underwater acoustic network in a network simulator. It includes: a mirror event scheduler monitoring transmission events at the physical layer; when any node triggers a transmission event, the mirror event scheduler adds the transmission event to a preset micro-batch buffer for buffering; when preset conditions are met, the mirror event scheduler performs micro-batch aggregation processing on all current transmission events in the micro-batch buffer; the mirror event scheduler generates a transmission signal based on the micro-batch aggregation result; the mirror event scheduler generates an uplink parameter file based on the transmission signal and sends it to the channel simulation end; the channel simulation end determines the target channel impulse response; the channel simulation end generates a downlink parameter file based on the target channel impulse response and the transmission signal and returns it to the network simulation end; the mirror event scheduler in the network simulation end processes the corresponding reception events based on the downlink parameter file. This application can avoid the interference underestimation and collision misjudgment caused by traditional packet-by-packet processing.

The application relates to an underwater acoustic network and discloses a water acoustic data collection method based on a queuing model and a genetic algorithm. In view of the problem of limited cluster head capacity in the underwater acoustic network, a single-service mixed queuing theory model is applied to the data transmission process between a cluster head and a sensor node in a data collection scene of an underwater node by using an AUV, so that the time when different cluster heads reach the upper limit of the cluster head capacity can be obtained. The time parameter and the distance between the cluster heads are used as the basis for designing the fitness function of the genetic algorithm. The time parameter and the time difference between the AUV and the cluster head are considered to cause data packet loss, and the weight between the two is adjusted according to the need. Then, the genetic algorithm is used to plan the travel path of the AUV. The purpose is to reduce the data loss caused by the limited node capacity under the premise of considering the energy loss of the AUV.

The invention discloses a high-speed modulation and demodulation method for a dynamic underwater acoustic network, and the method also employs an orthogonal sequence multiplexing modulation and demodulation technology based on a Zadoff-Chu (ZC) sequence, and combines the setting of a cyclic displacement interval to construct a plurality of sub-channels, thereby achieving the multi-path separation, and reducing the average transmitting power of a system at the same time. In the aspect of multi-user access, interference among multiple users is regarded as additive white noise by using quasi-orthogonal characteristics among different ZC root sequences, so that uncoordinated random concurrent access is supported; differential modulation between sub-channels in a symbol is adopted, and the requirement for phase tracking is lowered; and a receiving end converts multipath amplitude information into soft decision information through cyclic correlation spectrum calculation and multipath diversity technologies, so that the calculation complexity is reduced, and the throughput of the time-varying underwater acoustic system is improved while the multi-user access efficiency is improved.

An underwater acoustic double-hop network medium access control method based on Q-learning, which relates to an underwater acoustic network. Multiple nodes are selected as relays connecting indirect communication nodes and the sink in the direct communication nodes as parent nodes, and the indirect nodes assisted by the parent nodes are the child nodes of the parent nodes. The process of the sink collecting the data sensed by the underwater acoustic sensor nodes is divided into several time slots. The direct communication nodes use the Q-learning algorithm, combined with the sink feedback signal, and select appropriate time slots to send data by reasonably setting the reward mechanism to avoid data collection conflicts at the sink. The child nodes use the Q-learning algorithm to transmit data to the parent nodes during the idle time in the data collection process without affecting the data collection at the sink, overcoming the disadvantage that the sink cannot work during the waiting time when the child nodes transmit data to the parent nodes in the transmission process of child node-parent node-sink. It has a large network range, high throughput, and strong robustness, expanding the working range of the underwater acoustic network and improving network performance.

The invention relates to an underwater acoustic network minimum transmission time delay analysis method for a multi-link multi-hop transmission task, which comprises the following steps: step 1, constructing an underwater acoustic communication network, and creating a multi-link multi-hop transmission task in which the number of network nodes is N, the number of links needing to be transmitted is K, and the maximum relay hop number is M; 2, according to the transmission task, constructing a multi-link relay transmission matrix Q, a multi-hop transmission time matrix S and a point-to-point transmission delay matrix Ds, and establishing a transmission task model; and step 3, according to the transmission task, establishing a multi-hop transmission characteristic model and an underwater sound multi-hop network conflict-free transmission model. According to the method, models of underwater acoustic network multi-link multi-hop minimum transmission delay performance and the like can be constructed according to a network real-time transmission scene, minimum delay transmission in a target task scene is realized, and the network transmission efficiency is improved.

The invention discloses a directional MAC protocol design method based on a DQN in underwater acoustic communication. The method comprises the following steps: step 1, constructing an underwater acoustic network model; 2, establishing an underwater acoustic communication directional interference model, calculating signal receiving power, and establishing a directional signal interference model; 3, establishing a deep reinforcement learning model; 4, performing DQN updating training by using the data stored in the experience playback buffer area, and applying the trained model to an underwater acoustic network MAC protocol; step 5, storing the new reward of the underwater acoustic communication node and the corresponding state-action pair in an experience playback buffer area, and training based on a dual-network mechanism of a DQN; and step 6, repeating the steps 4-5 until the maximum network throughput is reached. According to the method, mutual interference between nodes is calculated, a deep Q network is combined, and the channel capacity of other surrounding nodes is improved while the large channel capacity of the nodes is considered, so that the throughput of an underwater acoustic network is improved to the maximum extent, and the special requirements of the underwater acoustic network are met.

The invention provides an underwater acoustic network cooperative positioning method based on CDMA (Code Division Multiple Access), a medium, equipment and a product, and relates to the technical field of underwater positioning, and the method comprises the following steps: each underwater node adopts CDMA to carry out full duplex communication; each node sends a first frame signal, the superposition of all the received first frame signals is used as a received first frame signal, the received first frame signal is used as a second frame sending signal of each node after spectrum spreading, and the superposition of all the received second frame signals is used as a received second frame signal of each node; the distance between the two nodes is obtained through TOA calculation of the two frames of signals; an xy coordinate system is established by taking one node as an original point and taking a connecting line of the original point and the other node as an x axis, other nodes send a signal once, direction finding is performed through a double-antenna interferometer of the node, and node positioning is realized. According to the method, the accuracy and reliability of underwater positioning can be improved.

The invention relates to an underwater hybrid network and a multiple access method and device thereof, and a storage medium, and is suitable for an underwater acoustic network, the underwater acoustic network comprises a fixed node and a mobile node, the method comprises the following steps: the fixed node divides a time axis into a superframe structure, the superframe structure comprises a reservation stage and a data transmission stage, the reservation stage is composed of a plurality of micro time slots, and the data transmission stage is composed of a plurality of data time slots; the mobile node sends a reservation control packet to the fixed node in the target micro time slot, and the reservation control packet comprises real-time depth information and position information of the node; the fixed node carries out data time slot distribution on the mobile node based on a constructed three-dimensional node topological graph, and the three-dimensional node topological graph is constructed based on real-time depth information and position information; the mobile node sends a data packet in the allocated target data time slot by adopting a preset data transmission mechanism; compared with the prior art, the technical scheme of the invention can improve the communication efficiency and reliability of the underwater hybrid network.

The invention discloses a hybrid task underwater acoustic network MAC (Media Access Control) method for efficiently responding burst data. According to the method, the sending time of each node in a common transmission period is reasonably arranged, so that interference data of the nodes can arrive at the same time as much as possible, namely, interference aggregation is realized, and the nodes have more idle time. When the node detects an emergency, notification packets are sent twice, so that all sensing nodes can be ensured to be effectively notified and enter a silent state so as to give way to a channel. Meanwhile, when the protocol is used for dealing with burst data communication, channel resources are not reserved in advance, so that the communication efficiency is higher. Based on the idea of interference aggregation, fast response and priority transmission of burst data are ensured while high throughput in a common transmission stage is realized.

The invention discloses a novel underwater acoustic network MAC protocol method, and relates to the field of underwater acoustic communication. In order to solve the defect that in the prior art, in an underwater acoustic communication scene with long time delay and high dynamic load, self-adaptive joint optimization of a network state is difficult to realize, the technical scheme provided by the invention is as follows: a new underwater acoustic network MAC protocol method comprises the following steps: acquiring inter-node propagation time delay based on sound wave propagation; calculating a network state factor based on underwater channel characteristics; dynamically adjusting the size of a contention window according to the network state factor; a step of compensating and adjusting the contention window based on the silence period between the CTS frames; a step of performing backoff by using the adjusted contention window and transmitting a data frame through an acoustic signal; and updating propagation delay and communication state information according to ACK frame feedback. The method is suitable for efficient and reliable communication and channel access management in a multi-node environment in an underwater acoustic network.

The invention discloses an underwater acoustic network centralized communication method based on an improved TDMA (Time Division Multiple Access) protocol. The method comprises the following steps: acquiring a full link set and a link conflict matrix; calculating a route link set corresponding to the final route of each underwater node; the continuous time is divided into equal-length frames, each frame is divided into equal-length time slots, and each time slot is provided with an inherent node with the highest transmission priority; according to a candidate routing link set which does not conflict with a link of an inherent node in each time slot, calculating a maximum interference-free routing link set capable of transmitting in each time slot, thereby obtaining a transmission time slot set of each routing link, and synchronizing with underwater nodes of the whole network in a broadcast mode; and determining the sending time of each data packet, and performing node data transmission. According to the invention, the transmission delay of the underwater acoustic multi-hop communication network can be reduced and the network throughput can be improved.

The present invention discloses a hierarchical time-division multiplexing link state underwater acoustic network networking method, belonging to the technical field of underwater acoustic networks. It includes network deployment, network initialization, network configuration, network withdrawal and network access processes. Among them, network deployment refers to the state test and parameter injection process before the underwater nodes are deployed. The network initialization stage completes the interaction of link state descriptors between the central node and multi-layer neighbor nodes and the improvement of the link state database. Network configuration is that the central node adjusts some non-optimal routing table entries during the initialization process. The network access and network withdrawal processes describe the processes of nodes joining and exiting the underwater acoustic network. By node stratification, the present invention effectively reduces the link state update packets frequently transmitted during node initialization, speeds up the convergence speed of the underwater acoustic network topology, and can improve the operation efficiency of the underwater acoustic network.

The invention discloses a low-conflict multiple access method oriented to the long delay characteristic of an underwater acoustic network, and belongs to the technical field of network communication. The method comprises the following steps that: nodes in a cluster initialize own time slot number and time slot length; the cluster head broadcasts the control frame twice; after receiving the control frame, the intra-cluster node determines the number and the number of time slots of the intra-cluster node and sends an access request in the corresponding time slot; the cluster head responds after receiving the access request; and the nodes in the cluster complete access. According to the invention, by introducing the double control frames and the priority-based multi-access mechanism, the access waiting time of the nodes in the long-delay underwater acoustic network is reduced, and the access delay and conflict probability are reduced.

The application provides a kind of underwater acoustic network multi-feature intelligent physical layer authentication method, network initialization stage is in the case without attack node to build CIR library related channel feature training set, and train the optimal authentication decision boundary for transmission and authentication stage, transmission and authentication stage utilize the optimal decision boundary trained for each legal neighbor in network initialization stage, authenticate newly received message, the purpose is to effectively improve the authentication rate and attack node detection rate under time-varying underwater acoustic channel.The application makes full use of the space-time variation characteristics of underwater acoustic link, provides a new way for high accuracy authentication under the condition of lack of illegal channel prior knowledge;Effectively overcome the influence of dynamic time-varying underwater acoustic channel, thereby further improve the accuracy of physical layer authentication algorithm;Not only can each node in underwater acoustic network realize distributed fraud attack detection, but also can greatly reduce the authentication overhead and network energy consumption generated in underwater acoustic network.

The invention discloses an orthogonal sequence waveform-oriented underwater acoustic network link layer access method, an electronic device and a storage medium, a complete link adaptive framework and an MAC protocol are designed in a data link layer: a plurality of modulation coding schemes are designed to adapt to different channel conditions, the dynamic nature of a quantitative channel is evaluated through channel impulse response similarity, and the dynamic performance of the quantitative channel is improved; complex power measurement is avoided through SINR estimation based on the number of active users, the optimal MCS is quickly selected through a two-dimensional lookup table, uncoordinated multi-user asynchronous random access is supported through a wake-up frame mechanism, and the multi-user access efficiency and the system throughput of a dynamic underwater acoustic network can be improved at the same time.

The application discloses a kind of underwater acoustic physical layer network coding symbol synchronization methods, belong to underwater acoustic communication and networking field.Three-node underwater acoustic PNC symbol synchronization mechanism is designed: preset relay node R is expected to the fixed transmission delay T of two terminal nodes A and B S , two terminal nodes A and B reach this expected time as target, utilize clock information in data transmission process to estimate downlink propagation delay, obtain the waiting delay τ A (k) and τ B (k) required before multiple access of terminal nodes A and B in each round PNC transmission process, realize the symbol synchronization of each round PNC transmission;Establish asymmetric link Kalman filter clock synchronization algorithm, for providing accurate clock information for PNC symbol synchronization mechanism, improve the synchronization accuracy of PNC symbol synchronization mechanism.Reduce the time slot overhead of underwater acoustic network, improve the performance of entire underwater acoustic network.

The invention relates to the field of underwater acoustic network transmission, in particular to an underwater acoustic network transmission method and system for a multi-platform information convergence scene. The underwater acoustic network transmission method comprises the following steps: acquiring a network node broadcast cluster head competition frame of target information, participating in cluster head competition, and forming a sensing cluster; establishing an intra-cluster conflict-free delay optimal transmission model, and calculating an optimal scheduling scheme under the current transmission demand; in-cluster data aggregation and information transmission tasks of the sensing clusters are completed according to the optimal scheduling scheme; and cluster head competition is carried out again in the next information convergence period and a new sensing cluster is formed, and the execution is repeated until the dynamic target disappears in the underwater acoustic network. According to the underwater acoustic network transmission method, on the basis of the idea of link interference avoidance, the clustering network whole-process transmission model facing the multi-platform information dynamic convergence scene is established according to the real-time state in the cluster, the optimal transmission scheme in the current scene is obtained, and the underwater acoustic network convergence efficiency facing the multi-platform information dynamic convergence scene is further improved.

The invention discloses an underwater sound network sensing data robust reconstruction method and system. The method comprises the following steps: modeling data measured by underwater beacons at different sampling points and different underwater sound base stations into underwater sound original tensors; the underwater acoustic original tensor can be decomposed into an underwater acoustic target tensor and a sparse noise tensor, and the underwater acoustic target tensor is further decomposed into a t product of an underwater acoustic dictionary tensor and a coefficient tensor; non-convex regularization is introduced to constrain the coefficient tensor, smooth cutting absolute deviation is adopted to constrain the sparse noise tensor, and an underwater acoustic tensor reconstruction model is constructed; and converting the underwater acoustic tensor reconstruction model into an augmented Lagrange function, and performing coefficient updating by adopting an alternating direction multiplier method to complete robust reconstruction of the underwater acoustic target tensor. According to the method, the correlation of the underwater acoustic measurement data in each dimension is fully excavated, the recovery effect of noise-containing underwater acoustic measurement is enhanced, and support can be provided for application based on underwater target positioning.

The invention relates to the technical field of wireless communication, and discloses an underwater acoustic network dual-mode matrix multi-hop dynamic routing protocol method with time slot sensing, which comprises the following steps of: initializing each node; each node periodically, dynamically and alternately sends dual-mode matrix information to neighbor nodes; the node obtains dual-mode matrix information including neighbor information and a time slot occupation table of a neighbor node; integrating and storing the network topology information and the time slot occupation table to form a network topology database; selecting the next hop of the path according to the time slot ratio of the node and the weight of the routing hop count; when the node has data to be sent, grouping the data according to a certain format, and judging the service volume and the emergency degree to decide to temporarily or permanently occupy the time slot; and the destination node returns a confirmation message to the source node after receiving the data sent by the source node. According to the invention, the balance of resource fairness, efficiency optimization and differentiated service guarantee is realized.

Meta-Learning-Based Hyperparameter Reweighting MAC Method for Underwater Acoustic Networks, which relates to underwater acoustic networks. In a single-hop underwater acoustic sensor network, a two-layer optimization-based framework is designed to improve the efficiency of underwater acoustic data transmission by adopting a meta-learning-based algorithm. In the core layer, the information criticality and the remaining energy of the transmission node are introduced as parameters into the underwater acoustic network, and meta-learning is used to reweight their weights, and the optimized weights are imported into the nested layer; in the nested layer, in view of the characteristics of large transmission delay of underwater acoustic data and limited energy of transmission nodes, the Q-learning algorithm is adopted in the medium access control to avoid data loss caused by data collisions during data transmission. By combining meta-learning with Q-learning, the data transmission efficiency is improved, transmission conflicts and data loss are effectively avoided, the system energy consumption of underwater acoustic data transmission is reduced, and the stability of the underwater acoustic sensor network is enhanced.

The application discloses a kind of based on receiving alignment dynamic MAC protocol implementation method.Compared with land wireless network protocol, underwater acoustic network protocol needs to consider space-time uncertainty.The existing receiving alignment idea proposes to arrange node sending time from the quantitative point of view, to realize high channel utilization, low data collision rate.But this idea has not been put into network protocol, and the low-load scene, dynamic scene and high error code characteristics of underwater acoustic channel are not considered.Aiming at the above problems, the application optimizes the data transmission efficiency in the low-load scene by increasing control information.Through the design of the initialization phase, network nodes can obtain the global information required for operation, and through the design of the restart phase, the protocol can run stably in multiple dynamic scenarios such as node exit or join, node failure or recovery.Aiming at the high error code characteristics in underwater acoustic channel, the protocol increases the Ack feedback mechanism, improves the transmission success rate of the protocol through timeout retransmission and fast retransmission.

The present application discloses an underwater acoustic network simulation system, comprising multiple communication nodes, wherein the communication nodes are configured to divide a transmission channel into multiple sub-channels at the physical layer and determine a channel number for each sub-channel; the communication nodes are further configured to determine the channel number of the channel used to send a data packet using a preset frequency division protocol at the MAC layer to obtain a target channel number, match the corresponding target channel based on the target channel number at the physical layer, and send the data packet based on the target channel. In this way, frequency division simulation of underwater acoustic communication can be implemented, thereby adapting to a wider range of test scenarios.