Shooter localization systems are used to detect and locate the origin of gunfire. A wireless sensor network is one possible implementation of such a system. A wireless sensor network is sensitive to synchronization errors. Localization techniques that rely on the timing will give less accurate or even useless results if the synchronization errors are too large. This thesis focuses on the influence of synchronization errors on the ability to localize a shooter using a wireless sensor network. A localization algorithm is developed and implemented and the effect of synchronization errors is studied. The localization algorithm is evaluated using numerical experiments, simulations, and data from real gunshots collected at field trials…
Contents
1 Introduction
1.1 Background
1.1.1 General Sensor Network
1.1.2 Sensor Network in Shooter Localization
1.1.3 Synchronization
1.1.4 Acoustical Phenomenon with Gunshots
1.1.5 Acoustical Signal
1.2 Problem Formulation
1.3 Limitations
1.4 Thesis Work
1.5 References
1.6 Outline of the Thesis
2 Models
2.1 Timing Models
2.2 Muzzle Blast Model
2.2.1 Time of Arrival (TOA)
2.2.2 Time Difference of Arrival (TDOA)
2.3 Shock Wave Model
2.3.1 Supersonic Bullet
3 Estimation of Parameters
3.1 Least Squares
3.2 Separable Least Squares
3.3 Target Localization
3.3.1 Estimation Criteria
3.3.2 Estimation Algorithms
3.3.3 Derivation of Jacobian
3.4 Performance Bounds
4 Numerical Experiments
4.1 Setup
4.2 Performance Measurements
4.2.1 Root Mean Square Error (RMSE)
4.2.2 Monte Carlo Simulations
4.3 Case 1
4.3.1 Monte Carlo Simulations for Case 1
4.4 Case 2
4.4.1 Monte Carlo Simulations for Case 2
4.5 Case 3
4.5.1 Monte Carlo Simulations for Case 3
4.6 Case 4
4.6.1 Monte Carlo Simulations for Case 4
4.7 Results
5 Field Trials and Results with Real Data
5.1 Experimental setup
5.2 Ammunition
5.3 Data Processing
5.3.1 Detection
5.4 Results from Field Trials
5.4.1 Shooter Position 1 (Sh1)
5.4.2 Shooter Position 2 (Sh2)
5.4.3 Shooter Position 3 (Sh3)
5.5 Errors in Results from Field Trials
6 Concluding Remarks
6.1 Conclusions
6.2 Future Work
Bibliography
Author: Wilsson, Olof
Source: Linköping University
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