A new system of integrated detection and communication is put forward, which detected echoes of the communication signal reflected by target. As we all known, different underwater acoustic modulation modes produce different communication waveforms. The detection performance of three conventional single-carrier underwater acoustic modulation signals of MSK, 2FSK and BPSK are analyzed by comparing their ambiguity functions and Q-functions. Having established the target echo model of underwater acoustic wireless modulation signal, the target estimation performance using different modulation signals are analyzed by employing the conventional beamforming and multiple signal classification algorithms. The results will instruct the waveform design for the integrated system of detection and communication.