CA2635763A1 - Self-calibrating shooter estimation - Google Patents

Self-calibrating shooter estimation Download PDF

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Publication number
CA2635763A1
CA2635763A1 CA002635763A CA2635763A CA2635763A1 CA 2635763 A1 CA2635763 A1 CA 2635763A1 CA 002635763 A CA002635763 A CA 002635763A CA 2635763 A CA2635763 A CA 2635763A CA 2635763 A1 CA2635763 A1 CA 2635763A1
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CA
Canada
Prior art keywords
sensor
time
sensors
contribution
arrival
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002635763A
Other languages
French (fr)
Other versions
CA2635763C (en
Inventor
Marshall Seth Brinn
James E. Barger
Stephen D. Milligan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Raytheon BBN Technologies Corp
Original Assignee
Bbn Technologies Corp.
Marshall Seth Brinn
James E. Barger
Stephen D. Milligan
Raytheon Bbn Technologies Corp.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bbn Technologies Corp., Marshall Seth Brinn, James E. Barger, Stephen D. Milligan, Raytheon Bbn Technologies Corp. filed Critical Bbn Technologies Corp.
Publication of CA2635763A1 publication Critical patent/CA2635763A1/en
Application granted granted Critical
Publication of CA2635763C publication Critical patent/CA2635763C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
    • F41J5/00—Target indicating systems; Target-hit or score detecting systems
    • F41J5/06—Acoustic hit-indicating systems, i.e. detecting of shock waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S367/00—Communications, electrical: acoustic wave systems and devices
    • Y10S367/906—Airborne shock-wave detection

Abstract

This invention relates to a method for compensating for sensor degradation in a multi-sensor shooter detection system, comprising the steps of:
determining a time of arrival of shockwaves produced at the sensors by incoming shots; performing a least-squares regression for the shockwave arrival times at the sensors to determine a time residual; observing a contribution of each of the sensors to the time residual for a plurality of shots; and compensating for sensor degradation by assigning a weight for each sensor, said weight being inversely proportional to a contribution of said sensor to the time residual.

Claims (7)

1. A method for compensating for sensor degradation in a multi-sensor shooter detection system, comprising the steps of:
determining a time of arrival of shockwaves produced at the sensors by incoming shots;
performing a least-squares regression for the shockwave arrival times at the sensors to determine a time residual;
observing a contribution of each of the sensors to the time residual for a plurality of shots; and compensating for sensor degradation by assigning a weight for each sensor, said weight being inversely proportional to a contribution of said sensor to the time residual.
2. The method of claim 1, further comprising the step of normalizing the contribution to an observed maximum time of arrival difference.
3. The method of claim 1, further comprising the step of computing a weighted shockwave arrival time that enhances a contribution from sensors that have a greater reliability.
4. The method of claim 3, further comprising determining a shooter position and bullet trajectory from a time residual computed with said weighted shockwave arrival time.
5. The method of claim 1, further comprising adjusting the weight of a sensor when the sensor has been repaired.
6. The method of claim 1, wherein the sensor is an acoustic sensor.
7. The method of claim 6, wherein the acoustic sensor is a microphone.
CA2635763A 2004-08-24 2005-08-11 Self-calibrating shooter estimation Expired - Fee Related CA2635763C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US10/925,876 US7190633B2 (en) 2004-08-24 2004-08-24 Self-calibrating shooter estimation
US10/925,876 2004-08-24
CA002576471A CA2576471C (en) 2004-08-24 2005-08-11 Self-calibrating shooter estimation

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CA002576471A Division CA2576471C (en) 2004-08-24 2005-08-11 Self-calibrating shooter estimation

Publications (2)

Publication Number Publication Date
CA2635763A1 true CA2635763A1 (en) 2006-09-21
CA2635763C CA2635763C (en) 2012-10-23

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Family Applications (2)

Application Number Title Priority Date Filing Date
CA002576471A Expired - Fee Related CA2576471C (en) 2004-08-24 2005-08-11 Self-calibrating shooter estimation
CA2635763A Expired - Fee Related CA2635763C (en) 2004-08-24 2005-08-11 Self-calibrating shooter estimation

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CA002576471A Expired - Fee Related CA2576471C (en) 2004-08-24 2005-08-11 Self-calibrating shooter estimation

Country Status (11)

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US (3) US7190633B2 (en)
EP (1) EP1784656B1 (en)
JP (1) JP4812764B2 (en)
KR (1) KR100855421B1 (en)
CN (2) CN102004238B (en)
AU (2) AU2005329071B2 (en)
CA (2) CA2576471C (en)
IL (2) IL181510A (en)
RU (1) RU2347234C2 (en)
SG (1) SG155242A1 (en)
WO (1) WO2006098755A2 (en)

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Publication number Publication date
US20060044942A1 (en) 2006-03-02
US7190633B2 (en) 2007-03-13
JP2008510995A (en) 2008-04-10
AU2005329071A1 (en) 2006-09-21
KR20070114104A (en) 2007-11-29
CN101116007B (en) 2011-05-04
SG155242A1 (en) 2009-09-30
CN101116007A (en) 2008-01-30
CA2576471C (en) 2009-03-24
CA2635763C (en) 2012-10-23
US20070171769A1 (en) 2007-07-26
US7372772B2 (en) 2008-05-13
CN102004238B (en) 2012-05-23
IL208797A0 (en) 2010-12-30
JP4812764B2 (en) 2011-11-09
AU2005329071B2 (en) 2008-11-27
CN102004238A (en) 2011-04-06
US8149649B1 (en) 2012-04-03
RU2347234C2 (en) 2009-02-20
WO2006098755A3 (en) 2007-03-01
CA2576471A1 (en) 2006-09-21
IL208797A (en) 2013-02-28
KR100855421B1 (en) 2008-08-29
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