WO2019032073A2 - Système pour détecter la direction et l'emplacement d'un tireur - Google Patents

Système pour détecter la direction et l'emplacement d'un tireur Download PDF

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Publication number
WO2019032073A2
WO2019032073A2 PCT/TR2018/050262 TR2018050262W WO2019032073A2 WO 2019032073 A2 WO2019032073 A2 WO 2019032073A2 TR 2018050262 W TR2018050262 W TR 2018050262W WO 2019032073 A2 WO2019032073 A2 WO 2019032073A2
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WO
WIPO (PCT)
Prior art keywords
shock wave
management unit
location
muzzle blast
central management
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.)
Ceased
Application number
PCT/TR2018/050262
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English (en)
Other versions
WO2019032073A3 (fr
Inventor
Ozgur OZUGUR
Tolga SONMEZ
Adil Burak BASLI
Caglar AKMAN
Bahattin KOCAMAN
Mahir CIHAN
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.)
Havelsan Hava Elektronik Sanayi ve Ticaret AS
Original Assignee
Havelsan Hava Elektronik Sanayi ve Ticaret AS
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 Havelsan Hava Elektronik Sanayi ve Ticaret AS filed Critical Havelsan Hava Elektronik Sanayi ve Ticaret AS
Publication of WO2019032073A2 publication Critical patent/WO2019032073A2/fr
Publication of WO2019032073A3 publication Critical patent/WO2019032073A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/07—Military
    • 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
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0081—Transmission between base stations

Definitions

  • Invention relates to system to find direction and/or location of firing source or sources on acoustic basis with high accuracy by means of detecting sound waves generated by the bullets fired from supersonic weapon systems such as pistol, machine gun, mortar and rocket launcher, when leaving the muzzle blast and the shock waves generated by bullets when traveling to the target, in order to detect the position and/or direction of the person firing by supersonic weapons in a secured area.
  • supersonic weapon systems such as pistol, machine gun, mortar and rocket launcher
  • the invention particularly uses optimal fusion of measurements obtained from multiple acoustic sensors to find a best estimate of shooter's location/direction.
  • Acoustic based shooter detection systems find direction of shot and positions of firing source or sources by means of detecting sound waves generated by the bullet.
  • waves generated by the bullet.
  • acoustic sensors operate standalone.
  • a single sensor capable to detect both muzzle blast sound and shock wave can identify the location of the firearm. However, making such estimation can be difficult due to physical restrictions. Detecting muzzle blast sound depends on distance between the sensor and the firearm. In order to be able to detect the shock wave, the bullet should pass close to sensor.
  • a single sensor may detect only muzzle blast and another one may detect only Shockwaves.
  • This invention can deal with all possible combinations. As the acoustic sensors form a network and share the measurements made by each sensor, fusion of information and a better estimate of location is possible. Besides, the existing systems generally have 4 microphones as high quality microphones are expensive. For that reason, not only errors are large but also there is no redundancy for faulty microphones.. The applications encountered during technical investigations relate to algorithms developed for acoustic detectors that works standalone. The algorithm of the system disclosed under this invention works completely in a different way. Muzzle blast sound and shock wave decomposition is processed in two ways in this algorithm. It has activity windows for signal processing and decision is made based on energy features and spectrum properties.
  • the invention has been developed with inspiration from existing problem and aims to eliminate the above mentioned disadvantages.
  • Primary purpose of the invention is to identify the location and direction of the firearms by using multiple acoustic sensors.
  • More than one acoustic sensor is operated simultaneously. Even though each sensor detects either or both of muzzle blast sound of bullet leaving firearm and shock sound generated in the air by bullet, all data are sent to central unit and processed together and all measurements are integrated through optimization to find the best estimate. In other words, even a single sensor detects only muzzle blast sound or only shock wave, all undergo an integration at central unit. Thus, sensors which receive partial data are also contribute to final estimation .
  • MEMS Microelectromechanical systems
  • new low cost microphones electrostatic systems
  • electrostatic condenser electrostatic condenser
  • number of microphones can be increased. For that reason, both estimation errors are lowered and backup against failures is provided.
  • a special mechanical design for 8 microphones, optimization algorithm for integration of measurements from multiple sensors and a method to detect weak signals have been developed.
  • the system disclosed under the invention can also be used for remote identification of UAVs (Unmanned Air Vehicle) acoustically.
  • UAV Unmanned Air Vehicle
  • Figure 1 shows structure of the acoustic sensor in detection of shooter direction/position used in the invention.
  • Figure 2 shows structure of central management unit in shooter direction and location identification system of the invention.
  • Figure 3 shows flow chart of algorithm in the signal processing module.
  • Figure 4 shows structure of flow chart of shooter direction and location identification system of the invention.
  • Figure 5 shows prototype of 8-microphone array of acoustic sensor.
  • Figure 6 shows that the microphones in the acoustic sensor can also be distributed in different alternative ways on the given hemisphere.
  • Figure 7 shows shooter direction and location identification system of the invention.
  • the invention relates to shooter detection system based on acoustic sensing (100), identifying direction of arrival and location of firing source or sources with a high accuracy by detecting sound waves generated by the bullets fired from supersonic weapon systems such as pistol, machine gun, mortar, rocket launcher. These sound waves are formed when the bullet is leaving the muzzle and/or the shock waves generated by bullets when travelling to the target. Since performance of direction and location detection system (100) may vary subject to terrain structure, it is also important to place the acoustic sensors (10) or in other terms, acoustic sensors in the best manner.
  • Firearm direction and location detection system (100) disclosed under this invention consists of hardware and software.
  • the invention (100) contains at least an acoustic sensor (10) (see Figure 1 ).
  • Single acoustic sensor (10) may estimate location by using both muzzle blast sound and shock wave. With single acoustic sensor (10), direction can be estimated by using only muzzle blast sound. For fusion, to find the location one of at least two acoustic sensors (10) should receive muzzle blast sound and the other should receieve Shockwave.
  • Each acoustic sensor (10) contains one array having at least 4 MEMS/Electret/Electret/Condenser microphones (1 1 ), and signal processing embedded hardware (15).
  • the mechanical design made for microphone (1 1 ) array is shown in Figures 5 and 6.
  • Total 8 microphones (1 1 ) are located at each end of the mechanical unit of two different crosses (+) with the same centre. The end of the arms are located on the surface of a hemisphere for optimal distribution. Thus, directional optimization is provided.
  • system continues to work, (see Figure 6)
  • Embedded hardware (15) provided on each acoustic sensor (10), is constantly running the signal processing module (17) at which acoustic signal processing algorithms are operating, to process sounds in the environment.
  • Microphones (1 1 ) located in acoustic sensors (10), are sensitive to detect sound waves from muzzle blast and/or bullet shock waves.
  • Analogue signals detected by microphones (1 1 ) are converted into digital signals by digital sampling module (18) before processing at signal processing module (17).
  • Each acoustic sensor (10) contains GPS receiver (12) for sensor localization and 3-dimensional inertial sensors (14) (acceleration meter, rotation meter and magnetometer) to find attitude determination at the same time.
  • temperature sensor (13) may also be included to estimate sound speed more accurately.
  • Wireless communication module (16) and acoustic sensors (10) are constantly in contact with central management unit (20).
  • commands and configuration messages received from central management unit (20) are processed by embedded hardware (15).
  • Detected firearm sounds are also transmitted to central management unit (20).
  • Central management unit (20) has sensor fusion filters (21 ) receiving and combining only muzzle blast sound data from acoustic sensor (10) or only shock wave data or both muzzle blast sound and shock wave data, (see Figure 2).
  • the sensor fusion filter (21 ) enables identification of shooting source more accurately and tracks them in time. Thanks to sensor fusion filters (21), even though each acoustic sensor (10) does not detect both muzzle blast sound and shock wave at the same time, central management unit (20) is capable to integrate all possible data from acoustic sensor (10).
  • Sensor fusion filters (21) will be enabled to identify the shooter location in the best way even in enviroments with echo by use of terrain data (22) (height, DTED map, meteorological data etc.).
  • Equation 1 is measured by acoustic sensors (10). The measurements are sent to central management unit (20). f ⁇ t o ,x o ,u o) j S found by analytic modelling. These two data is optimized with equation 2 and solution ( f o' o'"o ) j S obtained. Each measurement contains error to some extent. As more measurements are used, they becaome statistically independent and these errror average out. System solution achieved with fusion has less errors.
  • acoustic sensors (10) collect raw data
  • proceseed data such as time, direction and wave types are sent to the central processing unit for fusion.
  • a low volume of data is sent in the data network.
  • Terrain data (22) is also used in finding shot direction and placement of acoustic sensors (10).
  • Central management unit (20) uses a geographical information system capable to show digital data and maps. Locations and/or directions of firearms are displayed on user interface (23). Sounds of all identified important activities are recorded in the data record system (25) for subsequent examination.
  • Central management unit (20) contains a communication unit (26) capable to contact with acoustic sensors (10) continuously, exchange data, send commands and configuration messages.
  • Flow chart of shot direction and location detection system (100) is given in Figure 4. Process steps are:
  • shock waves have signals of N-like shape and short duration (200-300 ⁇ .) having fast rising/descending edges in range of 1 kHz - 10 kHz.
  • Muzzle blast sound is a low frequency signal having rising/descending edges slower in comparison to shock waves and having second section longer than first section and under 500 Hz.
  • Digital signals received from microphone (1 1 ) and sampled by digital sampling module (18) (by A/D converter) are divided into predefined number of processing windows (being at least two times of the largest possible shock wave and muzzle blast sound durations),
  • activity zone bandwidth is compared with the maximum shock wave bandwidth which depends on the sampling rate of the hardware, nominal shock wave duration and sub-window length parameters, and if it is less than this bandwidth this activity zone is sent to the shock wave processing block
  • ZC zero crossing
  • ⁇ activity is subdivided into sections in ZC coding process up to next zero crossing
  • bandwidth of activity zone is larger than a predefined maximum shock wave bandwidth but smaller than muzzle blast sound maximum bandwidth, then the activity zone is sent to the muzzle blast sound processing block ,
  • ZC zero crossing
  • ⁇ activity is subdivided into sections in ZC coding process up to next zero crossing

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

L'invention concerne un procédé et un système de détection pour trouver la direction d'arrivée de balles et/ou l'emplacement d'une source ou de plusieurs sources de tir sur une base acoustique (100) au moyen de la détection d'ondes sonores générées par la balle, qui est tirée à partir de systèmes d'arme, lors de la détonation au niveau de la bouche du canon, et/ou des ondes de choc générées par des balles lors d'un déplacement vers la cible.
PCT/TR2018/050262 2017-06-05 2018-05-23 Système pour détecter la direction et l'emplacement d'un tireur Ceased WO2019032073A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2017/08288 2017-06-05
TR201708288 2017-06-05

Publications (2)

Publication Number Publication Date
WO2019032073A2 true WO2019032073A2 (fr) 2019-02-14
WO2019032073A3 WO2019032073A3 (fr) 2019-03-21

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Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117387443A (zh) * 2023-12-13 2024-01-12 贵州航天凯山石油仪器有限公司 一种基于惯性测量模块的导弹分离姿态测试装置及方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6178141B1 (en) * 1996-11-20 2001-01-23 Gte Internetworking Incorporated Acoustic counter-sniper system
US20120182834A1 (en) * 2008-10-06 2012-07-19 Bbn Technologies Corp. Wearable shooter localization system
US20160252325A1 (en) * 2013-10-08 2016-09-01 Horus Vision Llc Compositions, methods and systems for external and internal environmental sensing

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117387443A (zh) * 2023-12-13 2024-01-12 贵州航天凯山石油仪器有限公司 一种基于惯性测量模块的导弹分离姿态测试装置及方法

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