Systems and methods with improved three-dimensional source location processing including constraint of location solutions to a two-dimensional plane

• US 8,369,184 B2
• Filed: 01/26/2010
• Issued: 02/05/2013
• Est. Priority Date: 01/26/2009
• Status: Active Grant

• Current Assignee: Shotspotter Incorporated
• Original Assignee: Shotspotter Incorporated
• Inventors: Calhoun, Robert B.
• Primary Examiner(s): Alsomiri, Isam
• Assistant Examiner(s): HULKA, JAMES R
• Application Number:
  US12/694,259
• Publication Number:
  US 20100195445A1
• Time in Patent Office: 1,106 Days
• Field of Search: 367/127
• US Class Current: 367/127
• CPC Class Codes: G01S 5/0269 Inferred or constrained positioning, e.g. employing knowledge of the physical or electromagnetic environment, state of motion or other contextual information to infer or constrain a position
• CPC Class Codes: G01S 5/04 Position of source determined by a plurality of spaced direction-finders
• CPC Class Codes: G01S 5/06 Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/12 takes precedence

Abstract

Systems and methods are disclosed associated with processing origin/location information of a source or event. In one exemplary implementation, there is provided a method of performing improved three-dimensional source location processing including constraint of location solutions to a two-dimensional plane. Moreover, the method includes obtaining a plane of constraint characterized as a plane in which the source is likely to occur, providing one or more virtual sensing elements each characterized as being located on a first side of the plane of constraint in a mirror image/symmetrical position across from a corresponding actual sensing element on an opposite side of the plane, and constraining possible origin locations to be located in the plane of constraint. Other exemplary implementations may include determining the origin location as a function of positions of the sensing elements and the virtual sensing elements as well as time-of-arrival and/or angle-of-arrival information.

Claims

1. A method of determining/solving an origin location of a source of an acoustic weapon fire signal or event by use of two or more sensing elements or receivers, the method comprising:

processing information, via one or more computer processing components of a weapon fire location system that is associated with one or more acoustic receivers, including;

obtaining a plane of constraint characterized as a two-dimensional plane defining a surface on which a perpetrator of the weapon fire incident is located and in which the source is likely to exist/occur, the plane of constraint being a bounded region within which a subject weapon fire incident was detected;

creating one or more virtual receiver(s) each associated with a respective real receiver, each virtual receiver being constructed as having the same signal arrival time as its respective real receiver but at a virtual position determined by reflecting the respective real receiver around the two-dimensional plane of constraint;

processing signals calculated as coming from one or more virtual sensing elements each characterized as being located on a first side of the plane of constraint in a symmetrical position that is a mirror image position, across from a corresponding real sensing element on an opposite side of the plane;

constraining possible origin locations of the acoustic signal or event to be located in the plane of constraint; and

determining the origin location as a function of positions of the real sensing elements and the virtual sensing elements, time-of-arrival information of acoustic energy from the source to the real sensing elements, and virtual time-of-arrival information provided by the one or more processing components as representative of signals calculated as between the source and the virtual sensing elements, via three-dimensional trilateration of relative time-of-arrival data from the sensing elements.

2. The method of claim 1 further comprising processing angle of arrival information in determination of the origin location, wherein the real sensing elements are capable of measuring time-of-arrival and/or azimuth-of-arrival from the source.

3. The method of claim 1 further comprising processing angle of arrival information in determination of the origin location, wherein determining the origin location includes measuring arrival angles using mirrored arrival vectors with respect to the plane of constraint.

4. The method of claim 1, further comprising discarding one or more candidate origin locations that are not located on the plane.

5. The method of claim 1, wherein origin locations determined as a function of data associated with both the sensing elements and the virtual sensing elements is more accurate than an origin location determined as a function of only data associated with the sensing elements.

6. The method of claim 1 wherein the acoustic signal/event is an explosive weapon fire event and the origin location is constrained to a specific two-dimensional plane.

7. The method of claim 6, wherein the specific two-dimensional plane includes a local approximation of a surface of the earth, in which a discharger of the weapon is known to lie.

8. The method of claim 1 wherein elevation of one or more of the sensing elements or receivers is estimated using GPS elevation data.

9. The method of claim 1 wherein elevation of one or more of the sensing elements or receivers is estimated using height above ellipsoid or height above mean sea level calculations.

10. The method of claim 1 wherein elevation of one or more of the sensing elements or receivers is estimated using one or more altimeters or cables of known height.

11. The method of claim 1 wherein the plane of constraint is obtained from a digital elevation model of terrain in the area of the sensing elements or receivers.

12. The method of claim 11 wherein a planar approximation of the terrain is improved in quality by:

locating the source using a coarse terrain model that averages the terrain with a first plane over the entire coverage area of the receivers;

computing an initial location using the first plane;

re-approximating the terrain in a vicinity of the source to obtain a more exact/precise plane; and

recalculating/relocating a superior location the source using new terrain approximation information and/or the more exact/precise plane.

13. The method of claim 12 wherein the re-approximation step is performed as an iterative process.

19. The system of claim 14 wherein the location estimate is successively increased in accuracy by iteratively repeating the processing steps of claim 1, each time with using the output of the location estimate to determine a better a priori estimate for the two-dimensional plane of constraint.

14. A system for determining the location of an acoustic source comprising:

a computer in communication with two or more acoustic sensors or receivers;

the sensors or receivers being placed at known positions in three-dimensional space and configured to detect acoustic signals;

wherein the computer is configured to;

receive and process signals from the two or more acoustic sensors or receivers;

measure an arrival time of acoustic signals with respect to a common time base;

utilize an estimate for a plane of constraint of the three-dimensional search space most likely to contain the acoustic source, the plane of constraint characterized as a two-dimensional plane defining a surface on which a perpetrator of the weapon fire incident is located and in which the source is likely to exist/occur, the plane of constraint being a bounded region within which a subject weapon fire incident was detected;

determine a best-fit location for the acoustic source including constraining possible origin location(s) to be located in the two-dimensional plane of constraint;

create one or more virtual receiver(s) each associated with a respective real receiver, each virtual receiver being constructed as having the same signal arrival time as its respective real receiver but at a virtual position determined by reflecting the respective real receiver around the two-dimensional plane of constraint; and

process data from real and virtual receivers together to determine a best-fit location solution for the source, the process of data including three-dimensional trilateration of the measured arrival times of the acoustic signals at the receivers.

15. The system of claim 14 wherein the sensors or receivers are configured to measure at least one of:

a time of arrival and/or an angle-of-arrival from the source.

16. The system of claim 14 wherein the location of the receivers is determined using measurements made from a GPS or other satellite-based navigation system.

17. The system of claim 14 wherein the two-dimensional plane of constraint is a planar approximation of the surface of the earth in the vicinity of the sensor array.

18. The system of claim 14 wherein the two-dimensional subspace is a planar approximation of the surface of the earth in the vicinity of the sensor array and a digital elevation model is used to characterize the surface of the earth for the purposes of identifying the two-dimensional subspace.

20. The system of claim 14 wherein the acoustic source is at least one of:

a firearm muzzle blast, mortar launch, improvised explosive device, demolition blast, underwater dynamite explosion and other explosive event.

21. A system for determining the location of an acoustic source using an array of acoustic sensors or receivers, the system comprising:

a) two or more sensors, sensing devices or receivers at known positions in three-dimensional space, each receiver being configured to detect acoustic signals and to measure arrival times of the acoustic signals with respect to a common time base; and

b) one or more processing components configured to accept and process measurements made by the two or more sensors, sensing devices or receivers;

wherein the one or more processing components are configured to process an estimate for a two-dimensional plane of constraint of the three-dimensional space most likely to contain the acoustic source, the plane of constraint characterized as a two-dimensional plane defining a surface on which a perpetrator of the weapon fire incident is located and in which the source is likely to exist/occur, the lane of constraint being a bounded region within which a subject weapon fire incident was detected;

wherein the one or more processing components are configured to determine the best-fitting location for the acoustic source as constrained by the two-dimensional plane of constraint via;

a) creating create one or more virtual receiver(s) each associated with a respective real receiver, each virtual receiver being constructed as having the same signal arrival time as its respective real receiver but at a virtual position determined by reflecting the respective real receiver around the two-dimensional plane of constraint; and

b) processing data from real and virtual receivers together, including constraining possible location(s) of the source to the plane of constraint, to determine the best-fitting location solution for the source, the processing of data including three-dimensional trilateration of measured arrival times at the sensors, sensing devices or receivers.