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Solution
By measuring the difference in reception times of the pair F1 and F2, we know that the ship is somewhere on the hyperbola that has the transmitters F1 and F2 as foci. Also, if we get the signal from F1 first, that will tell us the ship is closer to F1 than F2. However, the difference in reception times of F1 and F2 alone cannot tell us exactly where the ship is, only that it is somewhere on the hyperbola.
Similarly, the difference in reception times of the pair F3 and F4 can tell us that the ship is somewhere on the hyperbola that has the transmitters F3 and F4 as foci. What point is on both hyperbolas at the same time? Of course, the intersecting point. This is how we can find out the exact location of our ship.
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