QoI for passive acoustic gunfire localization

A network of acoustic arrays can localize a shooter. Each array can determine the direction of arrival (DOA) of the muzzle blast. Some arrays can also see the shockwave generated by the bullet as it travels at supersonic speeds. These arrays can also estimate the range to the shooter as a nonlinear function of the DOA and time difference of arrival (TDOA) between the shockwave and the muzzle blast, and these arrays can provide a rough estimate of the shooter location. The measurements from all the arrays that detect the gunfire can be fused to obtain a more accurate shooter location. This paper presents the accuracy component of the QoI for the entire sensor network by deriving the Cramer-Rao bound for the shooter location. The correspondence between QoI and actual root mean squared localization error is verified via Monte Carlo simulations.