This book introduces sonar system and acoustic channel model, average energy channel, coherent multipath channel, the theoretical basis for the stochastic time-varying space-variant channel, slowly time-varying coherent multipath channel, and reverberation channel. Based on the basic theory of underwater acoustic channels and the various characteristics of the marine acoustic environment factor, this textbook aims to help students understand the impact of the marine acoustic channel on the sonar system. It helps students to grasp underwater acoustic signal processing principles...