Shooter Localization Based on TDOA and N-Shape Length Measurements of Distributed Microphones

This paper deals with shooter localization based on measurements of a sensor network with spatially distributed, non-synchronized single microphones. The acoustic events generated during gunfire – shock wave and muzzle blast – provide information about shooter position and firing direction. A new approach is presented that takes into account the length of the N-shape of the shock wave in addition to the typically used measurement of the time difference of arrival (TDOA) between shock wave and muzzle blast. The accuracy of the new approach is evaluated using Cramér-Rao bounds, Monte Carlo simulations, and measurement experiments. The results are particularly promising in cases where no other approach achieves high accuracy.