Fig. 1. Model of underwater wireless optical chain multihop system

Fig. 2. Waveform of output signal of wireless optical transmitter

Fig. 3. Waveform of output signal of wireless optical receiver

Fig. 4. Hierarchical format of heterogeneous data frame structure

Fig. 5. Schematic of hierarchical data processing patterns

Fig. 6. UDP data frame decoding/encoding state transition. (a) State transition for UDP frame decoding module; (b) state transition for UDP frame encoding module

Fig. 7. Heterogeneous data rate conversion diagram

Fig. 8. Schematic of data processing process of relay node

Fig. 9. Status transition diagram of module determined by data source

Fig. 10. Relationship between preamble sequence length and received optical power

Fig. 11. Relationship between the length of data frame and the frame rate at different intervals

Fig. 12. Relationship between data frame length and received frame rate under different sending speeds

Fig. 13. Experimental platform of underwater wireless optical relay system

Fig. 14. System test results from node A to node B

Fig. 15. System test results from node A to node C