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Underwater localization is used as a key element in most applications of underwater communications. Despite the global positioning system (GPS) receivers are usually employed in terrestrial wireless sensor networks, they cannot be exploited for underwater localization. In fact, GPS signals are highly attenuated by the water, by being unusable to a depth of more than a couple of meters, and cannot propagate underwater, especially, in the case of the salt water. In place of RF signals, acoustic signals are the most common mode of communication, and the so-called underwater acoustic sensor networks attracted a significant interest due to their great impact on ocean monitoring and exploration. Hydroacoustics, as the study and application of sound in water, is the foundation of underwater localization, but the existing available methods, classified in range-based versus range-free techniques, are affected by several …