Waymark baseband underwater acoustic propagation model

This paper extends the work presented in [1] where a computationally efficient underwater propagation model is described. The extended model creates a time varying channel model as a baseband equivalent representation, allowing the processing on the signal propagating through the channel also to be at baseband frequencies. Therefore, depending on the signal, the processing may be performed at a lower sample rate, reducing the simulation time. In addition, longer channel impulse responses may be modelled with the same resources, giving the model the ability to accommodate more complicated and extreme underwater environments.