Field Experiments on Shooter State Estimation Accuracy Based on Incomplete Acoustic Measurements

Abstract

This paper investigates the problem of shooter localization fusing complete or incomplete experimental data of one or multiple acoustic sensors. A microphone array can measure a complete measurement data set, composed of two bearing angles of the two impulsive sound events of a supersonic bullet and the TDOA between both events, or an incomplete subset. In this paper experimental results from a field experiment with volumetric microphone arrays are investigated and compared with the associated Cramér-Rao bound.