基于TOA测量和DOA测量的目标节点定位可以比RSS测量获得更高精度的位置参数(The location of target nodes based on TOA and DOA measurement can obtain higher precision position parameters than RSS measurement)

产生随机信号，采用4fsk调制方式通过一个水声信道，再采用非相干解调(Generate random signal, use 4FSK modulation to pass through an underwater acoustic channel, and then use incoherent demodulation)

传输ofdm数据，采用了简单的多径信道，实现水下通信，整体程序还可以，可以参考参考(In order to transmit OFDM data, a simple multi-path channel is used to realize underwater communication. The overall program can also be used for reference)