The easiest and least costly approximation requires an Ohm-Meter. It is not scientific, but it may work.
The impedance of speakers usually is either 2 Ohm or 4 Ohm or 8 Ohm or 16 Ohm. Get an Ohm-Meter and measure the DC resistance of the speaker. Round the number to the closest reasonable value. If the measurement is 3 Ohms, then the speaker is 4 Ohm. If the measurement is 13 Ohm, then it is a 16 Ohm speaker.
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