Self calibrating shooter estimation

1. A method for operating a multi-sensor shooter detection system, comprising

providing a plurality of sensors,

determining arrival times of a shockwave produced by a shot at each of the plurality of sensors,

determining a time residual based at least in part on the arrival times,

determining a contribution of each the arrival times to the time residual,

assigning a weight to each of the plurality of sensors based on the contribution, and

determining a shot trajectory based on the weight.

2. The method of claim 1 , wherein assigning a weight includes assigning a weight to each of the plurality of sensors that is inversely proportional to the contribution of the arrival times of the corresponding ones of the plurality of sensors to the time residual.

3. The method of claim 1 , further comprising the step of normalizing the contribution to an observed maximum arrival time difference.

4. 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.

5. The method of claim 4 , further comprising determining a shooter position from a time residual computed with said weighted shockwave arrival time.

6. The method of claim 1 , further comprising adjusting the weight of a sensor when the sensor has been repaired.

7. The method of claim 1 , wherein the sensor is an acoustic sensor.

8. The method of claim 7 , wherein the acoustic sensor is a microphone.

9. The method of claim 1 , wherein determining the time residual includes performing least-squares regression for the arrival times.

10. The method of claim 1 , wherein the trajectory comprises a trajectory of one of the shot and a subsequent shot.