Fusing distributed muzzle blast and shockwave detections

The paper presents a novel sensor fusion technique to shooter localization using a wireless network of single-channel acoustic sensors. The unique challenge is that the number of available sensors is very limited. The first contribution of the work is an approach to estimate the miss distance of the shot and the range to the shooter from a single shot using a single sensor. The second contribution is the novel sensor fusion algorithm itself that fuses the miss distance and range estimates of the individual nodes as well as their Time of Arrival observations of the shockwave and the muzzle blast. The performance of both the single sensor method and the network fusion are very promising.