An idea for the mechanism behind an 'internal mapping device' for use against enemy ships could even be a 'sonar limpet' projectile. Fired from an ordinary cannon, it adheres to the hull of the enemy ship, then sends sonic pulses through the hull, mapping the interior. The projectile would then transmit this data back to your ship.
Presumably, ships could remove these limpets, and any other weapons that involve adhering or attaching to the hull, but the longer the limpet stays in place (or the more limpets are attached at once), the greater detail is revealed over time.
A zero-risk, low-reward (and extremely junk science!) alternative could be a kind of laser microphone that targets a ship, then measures vibrations of the hull, and attempts to correlate them to interior sounds (footsteps, alarms, echo patterns) and create a rough interior map that way, however this system would be excruciatingly inefficient.
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