## 1 Introduction  
The complex underwater environment makes underwater operations very challenging. Additionally, the most commonly used electromagnetic waves undergo severe attenuation underwater and are almost unusable. Deploying an underwater wireless communication system in water presents more challenges compared to a ground-based wireless communication system. Underwater acoustic communication (UWAC) is one of the commonly used underwater communication methods. At present, UWAC can support transmission rates of up to hundreds of bits per second over ranges of up to hundreds of kilometers [1]. UWAC utilizes mechanical waves as the carrier supplemented with transducers and other devices for communication. According to the signal propagation characteristics in the underwater acoustic channel, when two devices equipped with UWAC are located in different sound velocity layers, it is easy to cause blind zones [2, 3]. The transmission speed in the underwater acoustic channel is only about 1500 m/s, resulting in large propagation delays. In small and confined underwater areas, UWAC is severely affected by multipath effects and shallow water noise, making it unsuitable for short-range communications. At the same time, UWAC requires mutual conversion between electric and acoustic energy,so most devices are large-sized, making them difficult to supply for small autonomous underwater vehicles or divers. Therefore, in applications requiring high communication rates, low latency, short-distance communications, and device miniaturization, UWAC is not very suitable. Underwater optical communication (UWOC) is another common underwater wireless communication method. According to research, most lasers would be absorbed by seawater and unable to penetrate the ocean, but blue-green lasers (wavelengths approximately 470-570 nm) have the lowest attenuation when propagating through seawater [4; 5]. Compared to UWAC, UWOC has advantages like a high transmission bandwidth, fast communication data rate, and low link latency. The development of UWOC has been relatively rapid, with huge potential. However, there are some problems that need to be solved before it can be widely applied [6]. First, UWOC is susceptible to turbidity, turbulence, bubbles, suspended solids, and other hydrological conditions that can scatter light in water, requiring high environmental demands on the water body. Second, precise alignment is required between the optical transmitter and receiver, with most systems currently only able to communicate within line-of-sight ranges. Due to these reasons, the application scenarios of UWOC are relatively narrow at present. Therefore, how to accurately detect targets and ensure smooth information interaction between underwater swarm vehicles in complex underwater working environments has become a technical challenge for underwater vehicle applications. Research has found that weakly electric fish living in Africa generate electrical signals through a specialized discharge organ and perceive the surrounding environment through receptors distributed on their skin [7]. These fish have the ability to sense electric fields, enabling them to navigate underwater, recognize targets, and engage in intraspecific communication [8]. Inspired by this phenomenon, [PERSON] et al. [9] built an experimental circuit for quasi-static electric field digital signal transmission, achieving high-bitrate digital information transfer over short distances. They further established a distance-frequency-dependent path loss model applicable for frequencies up to 1.2 MHz and distances up to 5 m [10]. [PERSON] et al. [11; 12] showed that electromagnetic radiation propagating upward, then laterally near the surface before descending directly to the receiver is often optimal. [PERSON] et al. [13; 14] experimentally and via simulations demonstrated that low bit error rates are only observed when node immersion depths exceed dipole lengths. [PERSON] et al.