The unmanned surface vehicle (USV) integrated with acoustic modems has some advantages such as easy integration, rapid\nplacement, and low cost, which becomes a kind of selective novel node in the underwater acoustic (UWA) communication network\nand a kind of underwater or overwater communication relay as well. However, it is difficult to ensure the communication quality\namong the nodes on the network due to the randomunderwater acoustic channel, the severemarine environment, and the complex\nmobile node system. Aiming to model the communication characteristics of the USV, the multipath effect and Doppler effect are\nmain concerns for the UWA communication in this paper, so that the ray beam method is utilized, the channel transmission\nfunction and the channel gain are obtained, and the mobile communication quality evaluation model is built. The simulation and\nlake experiments verify that the built mobile UWA communication quality evaluation model on USV can provide preference and\ntechnique support for USV applications.
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