Hybrid Cramer-Rao Lower Bound for sniper localization via a helicopter-based acoustic array

In this work, we derive the Hybrid Cramer-Rao Lower Bound for sniper localization performance via a helicopter-based acoustic array. Our work differs from previous publications in two important respects. First, previously published results assume that bullet characteristics are perfectly known to the acoustic array (which is highly questionable) while our approach exploits a stochastic model to assess the substantial impact of imperfect knowledge of the bullet. Second, previously published results assume ground or aerostat based arrays, while we address issues associated with a helicopter-based array.