A recording device was found on board HMAS Leeuwin on Sunday while it was docked in Cairns in far north Queensland.
It was allegedly placed in an all-female cabin.
An investigation has been launched by Defence into the incident, with it being referred to the Joint Military Police Unit.
That included a thorough sweep of all navy fleet for other recording devices, which has been completed.
But attitudes within the Navy would not shift until men fully understood the legal consequences of their behaviour and consent training went beyond "window dressing" lawyer Adair Donaldson said.
He has assisted Defence Force personnel, and delivered training to the NRL, for more 20 years to shift thinking around consent and family violence.
"My way of approaching it is to simplify it (training) so they (men) know how to call situations out," he told AAP.
"It is about making sure you're doing it in a way that doesn't turn out to be a gender war and is inclusive of men and those they are trying to protect."
Mr Donaldson said the Defence Force's approach to respectful relationship training was often tick-a-box, full of slideshows, and generated a "here-we-go-again" response from personnel who felt disenfranchised.
He felt teaching from external instructors and real-world scenarios, along with clear outlines of the law, would cut through with duty-bound servicemen.
"The approach you adopt is to address what they've all signed off on and all have in common, which is the legal consequences and the law," he said.
Tasmanian Senator Jacqui Lambie, who served in the army, said an independent body should examine the incident.
Mr Donaldson said Defence's internal police had mechanisms to take on extremely thorough and sufficient investigations.
"We don't need another inquiry with more money spent," he said.
"We've had a lot of inquiries.
"What you would hope to see would be greater curiosity of leadership and approaching it not from a point of view of being reactive, but being proactive."
Defence Industry Minister Pat Conroy said establishing such an independent body was not the right path and could have unintended consequences.
"What we are committed to is making sure that the culture is there that's safe and respectful and we've got a range of measures in place to allow us to do that," he told ABC Radio.
"My message to (women) is we want you to serve. We want to make sure you feel you can serve in a safe and respectful environment, and we are working really hard to do that," Mr Conroy said.
1800 RESPECT (1800 737 732)
National Sexual Abuse and Redress Support Service 1800 211 028
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