IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0629761
(2009-12-02)
|
등록번호 |
US-8320217
(2012-11-27)
|
발명자
/ 주소 |
- Barger, James Edwin
- Mullen, Richard James
- Cruthirds, Daniel Ramsay
- Coleman, Ronald Bruce
|
출원인 / 주소 |
- Raytheon BBN Technologies Corp.
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
6 인용 특허 :
69 |
초록
▼
The systems and methods described herein relate to an airborne shooter detection system having a plurality of sensors coupled to the body of an aircraft such as a helicopter. The sensors are arranged to receive shockwave-only signals. The received signals are analyzed to determine an unambiguous sho
The systems and methods described herein relate to an airborne shooter detection system having a plurality of sensors coupled to the body of an aircraft such as a helicopter. The sensors are arranged to receive shockwave-only signals. The received signals are analyzed to determine an unambiguous shooter location. The analysis may include measuring the arrival times of the shockwaves of projectiles at each of the sensors, determining the differences in the arrival times among sensors, computing a set of ambiguous solutions corresponding to a shooter, and clustering this set of solutions to determine the unambiguous shooter location. The systems and methods described herein may also be used to determine if multiple shooters are present, and subsequently determine the shooter locations for each of the multiple shooters.
대표청구항
▼
1. An airborne shooter detection system for determining a shooter location based on shockwave-only signals associated with a plurality of projectiles fired at an aircraft, comprising: a plurality of sensors spaced apart on the surface of the body of the aircraft configured for receiving the shockwav
1. An airborne shooter detection system for determining a shooter location based on shockwave-only signals associated with a plurality of projectiles fired at an aircraft, comprising: a plurality of sensors spaced apart on the surface of the body of the aircraft configured for receiving the shockwave-only signals, wherein the shockwave-only signals correspond to potentially ambiguous solutions for the shooter location;at least one processor in communication with the plurality of sensors, the at least one processor configured for: analyzing the received shockwave-only signals;computing a set of ambiguous solutions for the shooter location;clustering the set of ambiguous solutions; anddetermining the unambiguous shooter location based on the clustering; andan output device in communication with the at least one processor for outputting the unambiguous shooter location. 2. The system of claim 1, wherein clustering the set of ambiguous solutions includes the at least one processor configured for determining a set of close-spaced ambiguous solutions and a set of wide-spaced ambiguous solutions. 3. The system of claim 2, wherein clustering the set of ambiguous solutions further includes the at least one processor configured for fitting a cluster around the set of close-spaced ambiguous solutions, wherein the close-spaced ambiguous solutions are associated with the unambiguous shooter location. 4. The system of claim 3, wherein fitting the cluster includes the at least one processor configured for selecting a center of the cluster for the set of close-spaced ambiguous solutions. 5. The system of claim 3, wherein the cluster is an ellipse. 6. The system of claim 3, wherein fitting the cluster includes determining a least-squares fit for the cluster enclosing the set of close-spaced ambiguous solutions. 7. The system of claim 3, comprising the at least one processor configured for selecting the center of the cluster as the unambiguous shooter location. 8. The system of claim 1, further comprising at least one processor configured for determining that at least two shooters are associated with the received shockwave-only signals;computing respective sets of ambiguous solutions for each respective shooter location; anddetermining at least two unambiguous shooter locations associated with each of the at least two shooters. 9. The system of claim 1, wherein computing the set of ambiguous solutions includes at least one processor configured for: computing time differences of arrival (TDOAs) from the initial portions of each received shockwave-only signal for each sensor pair of the plurality of sensors,determining an azimuth and an elevation for each respective incoming shockwave plane;determining a closest point of approach (CPA) for each respective projectile trajectory; anddetermining the set of ambiguous shooter locations based at least in part on the computed TDOAs, the azimuth and the elevation for the incoming shockwave plane, and the CPA for the respective projectile trajectory. 10. The system of claim 9, wherein determining the set of ambiguous shooter locations includes using a genetic algorithm. 11. The system of claim 10, wherein the genetic algorithm uses a set of values for at least three of the computed TDOAs, the azimuth and the elevation for the incoming shockwave plane, the CPA for the respective projectile trajectory, a projectile Mach number, and an angle between the CPA for the respective projectile trajectory and a normal to the respective shockwave plane. 12. An airborne shooter detection system for determining at least two shooter locations for at least two shooters based on shockwave-only signals associated with a plurality of projectiles fired at an aircraft, comprising: a plurality of sensors spaced apart on the surface of the body of the aircraft configured for receiving the shockwave-only signals, wherein the shockwave-only signals are indicative of potentially ambiguous solutions corresponding to the at least two shooter locations;at least one processor in communication with the plurality of sensors, the at least one processor configured for: determining at least two shooters are associated with the received shockwave-only signals;computing respective sets of ambiguous solutions for each respective shooter location;clustering the respective sets of ambiguous solutions; anddetermining at least two unambiguous shooter locations associated with the at least two shooters based on the clustering; andan output device in communication with the at least one processor for outputting the at least two unambiguous shooter locations. 13. The system of claim 12, wherein determining at least two shooters are associated with the received shockwave-only signals includes analyzing each received respective shockwave-only signal; andassociating each received shockwave-only signal with each respective shooter of the at least two shooters. 14. The system of claim 12, wherein associating includes computing a characteristic associated with each respective shooter. 15. The system of claim 14, wherein the characteristic includes a first firing rate associated with a first of the at least two shooters, and a second firing rate associated with a second of the at least two shooters. 16. The system of claim 14, wherein the characteristic includes a first projectile caliber associated with a first of the at least two shooters, and a second projectile caliber associated with a second of the at least two shooters. 17. The system of claim 12, wherein the at least one processor comprises a plurality of processors. 18. The system of claim 17, wherein a first processor of the plurality of processors is configured for computing a set of ambiguous solutions for a first shooter location and a second processor of the plurality of processors is configured for computing a set of ambiguous solutions for a second shooter location. 19. The system of claim 12, wherein clustering the respective sets of ambiguous solutions includes the at least one processor configured for fitting clusters around respective sets of close-spaced ambiguous solutions, wherein the sets of close-spaced ambiguous solutions are associated with the unambiguous shooter locations. 20. The system of claim 12, wherein determining at least two unambiguous shooter locations associated with the at least two shooters includes at least one processor configured for: computing TDOA from the initial portions of each received shockwave-only signal for each sensor pair of the plurality of sensors;determining an azimuth and an elevation for each respective incoming shockwave plane;determining a closest point of approach (CPA) for each respective projectile trajectory;computing at least one of firing rates and projectile calibers corresponding to the at least two shooters; anddetermining the unambiguous shooter locations for each of the at least two shooters based at least in part on the computed TDOA, the azimuth and the elevation for the incoming shockwave, the CPA for the respective projectile trajectory, and the at least one of the firing rates and the projectile calibers. 21. The system of claim 20, wherein determining the set of ambiguous shooter locations includes using a genetic algorithm. 22. The system of claim 21, wherein the genetic algorithm uses a set of values for at least three of the computed TDOA, the azimuth and the elevation for the incoming shockwave plane, the CPA for the respective projectile trajectory, a projectile Mach number, and an angle between the CPA for the respective projectile trajectory and a normal to the respective shockwave plane. 23. A method for determining a shooter location based on shockwave-only signals associated with a plurality of projectiles fired at an aircraft, comprising: receiving the shockwave-only signals, wherein the shockwave-only signals correspond to potentially ambiguous solutions for the shooter location;at least one processor analyzing the received shockwave-only signals;the at least one processor computing a set of ambiguous solutions for the shooter location;the at least one processor clustering the set of ambiguous solutions;the at least one processor determining the unambiguous shooter location based on the clustering; andthe at least one processor outputting the unambiguous shooter location to an output device. 24. The method of claim 23, wherein clustering the set of ambiguous solutions includes determining a set of close-spaced ambiguous solutions and a set of wide-spaced ambiguous solutions. 25. The method of claim 24, wherein clustering the set of ambiguous solutions further includes fitting a cluster around the set of close-spaced ambiguous solutions, wherein the close-spaced ambiguous solutions are associated with the unambiguous shooter location. 26. The method of claim 25, wherein fitting the cluster includes selecting a center of the cluster for the set of close-spaced ambiguous solutions. 27. The method of claim 25, wherein the cluster is an ellipse. 28. The method of claim 25, wherein fitting the cluster includes determining a least-squares fit for the cluster enclosing the set of close-spaced ambiguous solutions. 29. The method of claim 28, comprising selecting the center of the cluster as the unambiguous shooter location. 30. The method of claim 23, further comprising determining that at least two shooters are associated with the received shockwave-only signals;computing respective sets of ambiguous solutions for each respective shooter location; anddetermining at least two unambiguous shooter locations associated with each of the at least two shooters. 31. The method of claim 23, wherein computing the set of ambiguous solutions includes computing time differences of arrival (TDOAs) from the initial portions of each received shockwave-only signal for each sensor pair of the plurality of sensors;determining an azimuth and an elevation for each respective incoming shockwave plane;determining a closest point of approach (CPA) for each respective projectile trajectory; anddetermining the set of ambiguous shooter locations based at least in part on the computed TDOAs, the azimuth and the elevation for the incoming shockwave plane, and the CPA for the respective projectile trajectory. 32. The method of claim 31, wherein determining the set of ambiguous shooter locations includes using a genetic algorithm. 33. The method of claim 32, wherein the genetic algorithm uses a set of values for at least three of the computed TDOAs, the azimuth and the elevation for the incoming shockwave plane, the CPA for the respective projectile trajectory, a projectile Mach number, and an angle between the CPA for the respective projectile trajectory and a normal to the respective shockwave plane. 34. A method for determining at least two shooter locations for at least two shooters based on shockwave-only signals associated with a plurality of projectiles fired at an aircraft, comprising: at least one processor receiving the shockwave-only signals, wherein the shockwave-only signals correspond to potentially ambiguous solutions corresponding to the at least two shooter locations;the at least one processor determining at least two shooters are associated with the received shockwave-only signals;the at least one processor computing respective sets of ambiguous solutions for each respective shooter location;the at least one processor clustering the respective sets of ambiguous solutions;the at least one processor determining at least two unambiguous shooter locations associated with the at least two shooters based on the clustering; andthe at least one processor outputting the at least two unambiguous shooter locations on an output device. 35. The method of claim 34, wherein determining at least two shooters are associated with the received shockwave-only signals includes the at least one processor analyzing each received respective shockwave-only signal; andthe at least one processor associating each received shockwave-only signal with each respective shooter of the at least two shooters. 36. The method of claim 35, wherein associating includes the at least one processor computing a characteristic associated with each respective shooter. 37. The method of claim 36, wherein the characteristic includes a first firing rate associated with a first of the at least two shooters, and a second firing rate associated with a second of the at least two shooters. 38. The method of claim 36, wherein the characteristic includes a first projectile caliber associated with a first of the at least two shooters, and a second projectile caliber associated with a second of the at least two shooters. 39. The method of claim 34, wherein the at least one processor comprises a plurality of processors, and a first processor of the plurality of processors computes a set of ambiguous solutions for a first shooter location and a second processor of the plurality of processors computes a set of ambiguous solutions for a second shooter location. 40. The method of claim 34, wherein clustering the respective sets of ambiguous solutions includes the at least one processor fitting clusters around respective sets of close-spaced ambiguous solutions, wherein the sets of close-spaced ambiguous solutions are associated with the unambiguous shooter locations. 41. The method of claim 34, wherein determining at least two unambiguous shooter locations associated with the at least two shooters includes the at least one processor computing time differences of arrival (TDOAs) from the initial portions of each received shockwave-only signal for each sensor pair of the plurality of sensors;the at least one processor determining an azimuth and an elevation for each respective incoming shockwave plane;the at least one processor determining a closest point of approach (CPA) for each respective projectile trajectory;the at least one processor computing at least one of firing rates and projectile calibers corresponding to the at least two shooters; andthe at least one processor determining the unambiguous shooter locations for each of the at least two shooters based at least in part on the computed TDOAs, the azimuth and the elevation for the incoming shockwave, the CPA for the respective projectile trajectory, and the at least one of the firing rates and the projectile calibers. 42. The method of claim 34, wherein determining the set of ambiguous shooter locations includes using a genetic algorithm. 43. The method of claim 42, wherein the genetic algorithm uses a set of values for at least three of the computed TDOAs, the azimuth and the elevation for the incoming shockwave plane, the CPA for the respective projectile trajectory, a projectile Mach number, and an angle between the CPA for the respective projectile trajectory and a normal to the respective shockwave plane.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.