The answer will depend on your body fat percentage and purpose. As BIA scales don't cope well with athletes / bodybuilders (body fat < 10%), and generally don't take account of race. Fat calipers aren't very accurate on the obese, similarly the military regression equations are based on data from military bodies and are designed to assess whether an individual has exceeded the maximum permitted body fat (+/- 3%), so again not really suited for bodybuilders / athletes.
As the Navy formula (see @CanESER post) simply requires a tape measure I'd suggest you start there, and then spend literally a few pennies on a set of cheap plastic skinfold calipers, and have a play on one of the free apps / web sites that will compute and track your body fat from the values.
