For the problem that unmanned underwater vehicle(UUV) is easy to be interfered by the complex environment, which results in relative light source attitude deflection and affects positioning and communication, an underwater positioning communication scheme based on curved surface array is propseed, and a set of underwater positioning communication system based on field programmable gate array(FPGA) is designed and tested. The test results show that the system can accurately estimate the attitude of the receiver relative to the light source and adjust it. After adjusting the attitude, the communication performance of the system is improved obviously.