In this paper analyses the characteristic of EM waves propagation in structured environment to identify the signal interference by the structure, and suggests the EM waves attenuation model considering the distance and penetration loss by the structure. The range sensor based on electromagnetic(EM) waves attenuation along to the distance showed the precise distance estimation with high resolution depending on the distance. However, it is hard to use in structured environments due to the lack of consideration of the EM waves attenuation characteristics in the structured underwater environment. In this paper, EM waves propagation characteristic and signal interference effects by the structures were analyzed, and the EM waves distance-attenuation model in structured environment was suggested with sensor installation guideline. The EM waves propagation characteristics and proposed sensor model were verified by the several experiments, and the localization result in structured environment showed the more reliable performance.