Abstract
Hydrophones are installed in each tank of a liquid cargo tanker ship. In the unfortunate event that the tanker collides with an obstacle in the water, the hydrophones detect the shock wave due to the collision. The relative first arrival times of the shock wave at the respective hydrophones are measured and the arrival-time differences between two hydrophones of any two different selected pairs of hydrophones is calculated. Hyperbolic lines of constant time difference are projected on a map of the locations of the hydrophones on the ship. The intersection of the lines of position representing the calculated first arrival time differences marks the location of the impact of the ship with the obstacle.
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