Sound source localization underwater

I have three recordings of a signal taken with an array of three hydrophones (one sound source). I would like to estimate the source localization using the time of arrival differences for the three recordings. I started the following, by estimating the time of arrival differences with the GCC-PHAT algorithm (Generalized cross-correlation):

[sig1, fs] = audioread('signal1.wav'); 
sig2 = audioread('signal2.wav');
sig3 = audioread('signal3.wav');
refsig = sig1;
[tau_est, R, lags] = gccphat([sig2,sig3],refsig, fs); 
disp(tau_est * fs)

It gives me the time of arrival differences of signals 2 and 3 compared to signal 1 (tau). Now I would like to get the direction of arrival estimates (DOAs) and proceed with triangulation to assess source position.

Any help will be greatly appreciated!

Answer 1

[Image Analyst]

For what it's worth, I'm attaching a demo where we had to determine the location of an explosion given the location of microphones and times the sound was heard (if I remember it correctly).