The first one is found after the line about the "prison fields" on the level COURTYARD. When you exit the prison and look upwards there should be a lot of towers to your right. The best I can say is once you exit look diagonally right from where you exited. He's sitting on what looks like a jagged point stemming out from a tower.
The second is in the level HANGER, the one where you can look out a window and see a ship moving. Lazerbeak is behind and above you on the door you entered in. Facing it he's on the left.
The third is in THE FINAL APPROACH where you're trying to get to Zeta Prime and the floor is getting blown away. The best advice I can give is that it is located about when you hit the 5,000 mark. Look for a LARGE column. You will be going left, the column is on the right.
I've been able to double-check because even after you get the achievement you can still find them there.