Shooter Localization in Wireless Microphone Networks

Shooter localization in a wireless network of microphones is studied. Both the acoustic muzzle blast (MB) from the gunfire and the ballistic shock wave (SW) from the bullet can be detected by the microphones and considered as measurements. The MB measurements give rise to a standard sensor network problem, similar to time difference of arrivals in cellular phone networks, and the localization accuracy is good, provided that the sensors are well synchronized compared to the MB detection accuracy. The detection times of the SW depend on both shooter position and aiming angle and may provide additional information beside the shooter location, but again this requires good synchronization. We analyze the approach to base the estimation on the time difference of MB and SW at each sensor, which becomes insensitive to synchronization inaccuracies. Cramér-Rao lower bound analysis indicates how a lower bound of the root mean square error depends on the synchronization error for the MB and the MB-SW difference, respectively. The estimation problem is formulated in a separable nonlinear least squares framework. Results from field trials with different types of ammunition show excellent accuracy using the MB-SW difference for both the position and the aiming angle of the shooter.