For much of the last half of the 20th century,underwater acoustic communication links operated at a few hundred bits per second.Then,in the late 1990s and early 2000s,systems started to show dramatic performance increases,leading to data rates of more than 48 kilobits per second with a one-kilometer range or more.Since 2000,underwater acoustic communication has undergone somewhat of a renaissance.The main driver behind this increase in performance has been the adoption and modification of signal processing techniques from the radio frequency domain to the underwater acoustic domain.In particular,the development of acoustic communication based on frequency-shift keying through to the development of direct-sequence spread spectrum and multiple-input,multiple-output transducer techniques have led to dramatic increases in performance.
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