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 for the system is tested on a lake. The data is analyzed and processed using PHAT-weighted generalized cross-correlation delay estimation, and results such as positioning error and communication bit error rate are obtained. The design and under-ice test results of the system can provide methods and ideas for the design of a new integrated system for under-ice acoustic positioning and communication and have a certain reference value for conducting under-ice acoustic positioning, communication, and detection.