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Method and apparatus for determining the general direction of the origin of a projectile

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TLDR
In this paper, a time relation is measured between at least three transducers when the blast wave serially encounters each of the transducers, and the time relation points in the general direction of the origin of the projectile.
Abstract
Methods and apparatus are provided for determining the general direction of the origin of a projectile. At least one sensor, having at least three spaced-apart transducers, each being capable of encountering a blast wave generated at an origin of and by a propellant for the projectile, is provided for generating a signal responsive thereto. From the signals, a time relation is measured between at least three transducers when the blast wave serially encounters each of the three transducers. From the time relations, at least one unit sighting vector from at least one sensor to the origin of the blast wave is determined so that the unit sighting vector points in the general direction of the origin of the projectile.

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References
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Methods and apparatus for determining the trajectory of a supersonic projectile

TL;DR: In this article, a method for determining the trajectory (86) of a supersonic projectile (87) of unknown velocity and direction having at least three spaced-apart sensors (80-82) capable of encountering a shock wave generated by a SUPA passing in the vicinity of the sensors, which signals are related to an azimuth and elevation angle of a unit sighting vector from each sensor to an origin of the shock wave.
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Acoustic direction finder

James F Price