Abstract: The transmission properties of an underwater acoustic communication channel can change dynamically due to the movement of the acoustic system transmitter and receiver or to reflection by underwater objects of the transmitted signal. Time-varying impulse response measurement and estimation are necessary to match the physical layer of data transmission to instantaneous channel propagation conditions. The correlation measurement method, being limited to the duration of the measurement sequence, therby limits. The paper proposes a joint correlation measurement and adaptive filtration approach, applying the Kalman filter algorithm to increase the time-domain resolution of the time-varying impulse response estimation.