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Abstract

A projectile tracking system including: a plurality of acoustic sensors rigidly held apart from each other and apart from an acoustically reflective surface; a processor configured to: receive a spatial relationship between the plurality of acoustic sensors and a spatial relationship between the plurality of acoustic sensors and the acoustically reflective surface; receive a plurality of measurement signals including a measurement signal corresponding to each of the plurality of acoustic sensors; identify: in one or more of the plurality of measurement signals, timing of arrival of a supersonic shockwave of a projectile to the respective sensor; and in at least one of the plurality of measurement signals, timing of arrival of a reflection of the supersonic shockwave from the acoustically reflective surface to the respective sensor; determine at least a portion of a trajectory of the projectile, using: the timing of arrival of the supersonic shockwave; the timing of arrival of the reflection; the spatial relationship between the plurality of acoustic sensors; and the spatial relationship between sensors and the spatial relationship between sensors and the acoustically reflective surface.

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First Claim