The nesC language: A holistic approach to networked embedded systems
PLDI '03 Proceedings of the ACM SIGPLAN 2003 conference on Programming language design and implementation
Sensor network-based countersniper system
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Directed flood-routing framework for wireless sensor networks
Proceedings of the 5th ACM/IFIP/USENIX international conference on Middleware
Countersniper system for urban warfare
ACM Transactions on Sensor Networks (TOSN)
Shooter localization and weapon classification with soldier-wearable networked sensors
Proceedings of the 5th international conference on Mobile systems, applications and services
Shooter localization in wireless microphone networks
EURASIP Journal on Advances in Signal Processing - Special issue on microphone array speech processing
On the scalability of routing integrated time synchronization
EWSN'06 Proceedings of the Third European conference on Wireless Sensor Networks
A-GR: A novel geographical routing protocol for AANETs
Journal of Systems Architecture: the EUROMICRO Journal
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A wireless sensor network-based wearable countersniper system prototype is presented. The sensor board is connected to a small helmet-mounted microphone array that uses time of arrival (ToA) estimates of the ballistic shockwave and the muzzle blast to compute the angle of arrival (AoA) of both acoustic events. A low-power radio is used to form an ad-hoc multihop network that shares the detections among the nodes. Utilizing all available ToA and AoA data, a novel sensor fusion algorithm then estimates the shooter position, bullet trajectory, miss distance, caliber, and weapon type. A single sensor relying only on its own detections is able determine the shooter position when both the shockwave and the muzzle blast are detected by at least three microphones each. Even with just one shockwave and one muzzle blast detection, the miss distance and range can be accurately estimated by a single sensor. The system has been tested multiple times at the US Army Aberdeen Test Center and the Nashville Police Academy. The demonstrated performance is 1-degree trajectory precision, over 95% caliber estimation accuracy, and close to 100% weapon estimation accuracy for 4 out of the 6 guns tested.