In general, the hydrophones are used to calculate the time delay between the reception of a ping from a reference source and its detection by the three other hydrophones. Using these time and phase differences, the system can estimate the angle of arrival relative to the submarine’s X-axis, as well as the angle between the X–Y plane and the pinger. These two angles are then used to determine the vehicle’s position and improve underwater navigation accuracy. While only the heading angle is strictly required for the competition, using both angles increases the system’s reliability and makes it easier to validate and confirm the submarine’s movement in the water.