Methods Of Gunfire Localization Based On Multiple Microphone Arrays

In a complex battlefield environment,a sniper will come up with effective tactics basing on his flexibility killing abilities.To respond to the threat of a sniper,anti-sniper tactics begin to develop.Considering that the sounds of guns have characteristics of short duration,high signal intensity,and obvious pulse spikes,the localization system which has broad research and application prospect can be established with microphone arrays.In this paper,a space stereo microphone array localization algorithm as well as a time delay based multiple microphone arrays joint localization algorithm are studied.The main work is as follows:Firstly,the acoustic characteristics of sounds of guns are analysised as well as the signal far field model.Advantages and disadvantages of various localization algorithms are summarized and compared.Secondly,the time delay based algorithm are detailedly introduced and the mathematical model of the topological structure of the space stereo microphone array as well as the mathematical description of the geometrical relationship between the microphone array and the sound source are derived.After the time delays are determined,a least square method is taken into use to cursorily estimate the location of sound source.Finally,a solution with multiple microphone arrays is developed.For each array,the localization problem is solved with least square algorithm and the outputs from all arrays are totally considered.The direction estimation is considered as nearly correct and intersects are calculated and selected through clustering algorithms.The Kalman filter is then used to do the second location estimation with the selected intersects.Simulation results show the developed solution using Kalman filter can obviously decrease the localization error.