direction finding algorithm

[Gianni Pavan]

	I'm working on wideband multichannel recordings made with 4 hydrophones 
mounted on a 3D structure; something similar to a tetrahedron, with 3 
hydrophones mounted on an horizontal plane and the fourth higher then the 
other 3. The spacing among the phones is roughly 2 meters.
I'm searching an algorithm to calculate the direction (bearing and 
elevation) of an acoustic source given the time delays I measure among the 
four hydrophones and their 3D coordinates.
Any hint will be much appreciated!

Gianni
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Gianni Pavan
Email [EMAIL PROTECTED]
Centro Interdisciplinare di Bioacustica e Ricerche Ambientali
Universita' degli Studi di Pavia
Via Taramelli 24, 27100 PAVIA, ITALIA
Tel        +39-0382-987874
Fax        +39-02-700-32921
Web       http://www.unipv.it/cibra