Abstract: To meet the requirements of communication and localization in the unmanned surface vehicle-autonomous underwater vehicle (USV-AUV) heterogeneous cluster system for the marine exploration, a waveform design scheme of integrated underwater acoustic communication and positioning is proposed in this paper. In the proposed scheme, multiple Chirp signals with different starting frequencies are used to modulate communication information, and high time-bandwidth product Chirp signal is adopted as pilot signal to estimate arrival time precisely. The pilot can be implemented as preamble configuration or built-in configuration. The former, a pilot and guard interval, provides strong noise resistance, and the embedded pilot enhances communication rate, especially for the communication with short transmission interval. However, both pilot configurations can be utilized for Doppler estimation and compensation, and then improving the positioning performance of underwater nodes. Simulation and sea experiment results demonstrate that the proposed integrated underwater acoustic communication and positioning signals effectively mitigate the effect of Doppler and multipath effects, as well as achieving high data transmission rate and low bit error rate under low signal-to-noise ratio condition. Furthermore, the positioning error of underwater nodes is reduced.