A Review of Underwater Localization Techniques, Algorithms, and Challenges

Table 1

Comparison table of electromagnetic, acoustic, and optical waves in underwater environment.

	Electromagnetic waves	Acoustic waves	Optical waves
Frequency band	∼kHz	∼MHz	∼10^14-10^15 Hz
Bandwidth	∼kHz	∼MHz	∼10-150 MHz
Power loss	>0.1 dB/m/Hz	∼28 dB/1 km/100 MHz	∝ turbidity
Effective range	∼1 m	∼10 m	∼10-100 m
Nominal speed (m/s)	∼1,500	∼33,333,333	∼33,333,333
Antenna size	∼0.1 m	∼0.5 m	∼0.1 m