This paper proposes an algorithm that estimates three dimensional array shape calibration about the bottom-mounted sensor array. under the assumption that the active sources are in the far-field with unknown positions. Under some assumptions. we calculate the sensor positions via an algebraic solutions of a least squares problem that the linear equations are related to the sensor positions and directions or arrival. We give examples of algorithm performance from both computer simulations and sea test. We also illustrate the performance of sensor positions estimation as a function of time delay estimation variance and the distribution of the localizing sources.