Disclosed is an acoustic communication method that includes filtering an audio signal to attenuate a high frequency section of the audio signal; generating a residual signal which corresponds to a difference between the audio signal and the filtered signal; generating a psychoacoustic mask for the audio signal based on a predetermined psychoacoustic model; generating a psychoacoustic spectrum mask by combining the residual signal with the psychoacoustic mask; generating an acoustic communication signal by modulating digital data according to the acoustic signal spectrum mask; and combining the acoustic communication signal with the filtered signal.
