Abstract: Currently, the payload capacity of the autonomous underwater vehicle used for polar exploration is limited, and the acoustic payload has problems such as high power consumption and low utilization of the payload platform. This article designs an integrated system for underwater acoustic positioning and communication under ice, studies the integrated signal transmission scheme, and designs the hardware unit to meet the requirement of integrated light weight. Under-ice experimental verification of the system equipment was tested on a lake. The data were analyzed and processed using PHAT-weighted generalized cross-correlation delay estimation, and results such as positioning error and communication error rate were provided. The system design and under-ice test results can provide methods and ideas for the design of an integrated system for underwater acoustic positioning and communication under-ice and has a certain reference value for conducting underwater acoustic positioning, communication, and detection.