Systems and method for compensation of sensor degradation in shooter detection systems
View Patent ↗Systems and methods for compensation of sensor degradation in multi-shooter detection systems are described. In such systems, shooter position and trajectory can be estimated precisely from the shockwaves produced at the plurality of sensors by the incoming shots. However, sensor positions can shift and the performance of some sensors may degrade for various reasons. To compensate for sensor degradation that may occur over the life of a long-deployed system, the shooter estimation algorithms are dynamically adapted by performing a least-squares regression analysis of the shockwave arrival times to obtain a time residual for each shot, observing multiple shots, and weighting the individual contributions of the sensors as a function of the time residuals for the multiple shots.
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.