Finding an Active Shooter with GNURadio
Transcript of Finding an Active Shooter with GNURadio
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Finding an Active Shooter with GNURadio
ASTRA 09/16/2017 1
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Active Shooter Tactical Response AssistantTeam ASTRA:
George Mason University Students:Ben McCall, Puja Patel, Joel Williams, Rohini Shah, Aryan Toughiry
GMU Sponsors: Dr. Kenneth Hintz & Dr. Kathleen WageASTRA 09/16/2017 2
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TDoA Network ● timing issues (only using 1pps from GPS) ● Simple-ish hardware
Direction Finding/Acoustic Phased array ● Timing between elements easier than TdoA ● Hard to capture distance to source
Network of Direction Finding/Acoustic Phased arrays ● Best of both worlds● Geographic spacing with no node-to-node timing needed● Gather distance to source through node intersections
ASTRA
Possible Approaches and Barriers
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Node 1
ASTRAData
Receiver
Node 3
Node 2
ASTRA
ASTRA Walkthrough
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Node 1
ASTRAData
Receiver
Node 3
Node 2
ASTRA
Shot is detected by Acoustic Sensor Array of Nodes
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Node 1
ASTRAData
Receiver
Node 3
Node 2
ASTRA
Each Node plots back a directional vector back to the source
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Node 1
ASTRAData Receiver
Node 3
Node 2
ASTRA
Vector Data is sent to the ASTRA Data Receiver
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ASTRA User Terminal
ASTRA
Intersection of Directional Vectors Shows Approx. Shooter Location
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ASTRA
Approach
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Detecting the Gunshot:● Matched Filtering● Tested FFT multiply vs time domain convolution
– FFT Multipy produced %30 increase in processor efficiency● Fixed threshold using visual observation (for now)
Determining the Direction of the Gunshot:● Auto/Cross Correlation to extract delays (lags)
Locate the Gunshot (and Hopefully the Shooter)● Determine Region of Intersection● Determine Region of Uncertainty
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ASTRA
2D Phased Array
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Detector Mic
Spatial Mic1
Thanks to M. Rhudy Univ Pitt
Spatial Mic2 Spatial Mic3
SOUNDSOURCE
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Omni Mic
A/DBank of Matched
Filters
WirelessBackhaul
GPS/TCP packetization
GPS position
Omni Mic
Omni Mic
Omni Mic
Phased ArrayDirection
Calculation
LINUX CPU runningGnuradio, python, java
ASTRA
Single Node Architecture
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Google earth
Data Receiver
JAVA to KML
script
KML file
ASTRA TCP
server
ASTRA node
TCP Message
GNURadio
DirectionFinding
ASTRA node
TCP Message
GNURadio
DirectionFinding
Wireless network
connectionASTRAUser
Terminal
ASTRA
ASTRA System Architecture
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GNURadio
TCP Message
GNURadio
DirectionFinding
GNURadio
ASTRA node
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AutoCAD designs
Physical implementation
PHYSICAL ARRAY DESIGN AND IMPLEMENTATION
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Materials list:NODE (replicated 3x):(1) Tascam US4x4 4 channel A/D converter
(1) Ubiquity Networks Loco M900 900MHz wireless transceiver(4) MOVO LV4 Omnidirectional Lavalier Microphone
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IT’S “EASY”● Flowgraphs are easily manipulatable● Out-of-Tree Blocks meet custom needs● Visualizations give Quick Sanity Checks
IT’S FREE
IT’S “SUPPORTED”● Message boards● GNURadio Forum
ASTRA
Why GNURadio?
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Benchtop Testing: single node implementation GNURadio Flowgraph
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Matched Filter Outputsof Multiple Firearms
Detection
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Benchtop Testing: single node Implementation plotting direction
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AUTOCORRELATIONMIC1/MIC1
CROSS-CORRELATIONMIC1/MIC3
CROSS-CORRELATIONMIC1/MIC4
CROSS-CORRELATIONMIC1/MIC2
PLOTTING OF ANGLE
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Speaker Testing: Single Node Implementation
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SOUND SOURCE
SOUND SOURCE
ASTRANODE
ASTRANODE
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Speaker Testing: Single Node Implementation
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Umbrella Engineering
UmbrellaLaptop
Node
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Raw audio streams from microphones
Cross-correlations with peaks highlighted
Accurately plotting location of sound source
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Speaker Testing: Single Node Implementation Results
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.308 (Sniper Rifle)
AR15 AR15
.22 Rifle
AK 47
Glock 26
Glock17Glock19
ASTRA
Live Fire Single Node Testing and Matched Filter Data Collection
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US ARMY INFANTRY SOLDIER FIRING VARIOUS FIREARMS DURING TEST
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Live Fire Testing: Single Node Implementation
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Sighting in Angles with Lensatic Compass
Direction Finding ArrayWith shooter in background
Collecting waveforms and Observing system operation
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shooter
Live Fire Testing: Single Node Implementation
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Raw audio streams from microphones
Cross-correlations with peaks highlighted
Accurately plotting location of sound
source
Live Fire Testing: Single Node Implementation
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Outdoor Shooting Range Test Layout
ASTRA
FIRING LINE
DirectionOf Fire
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VIDEO
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Mean Angle Error(degrees)
STDEV GPS Error(meters)
CircularError ofProbabilityradius (meters)
CombinedStandardDeviation(meters)
ASTRA
System Error Results
Node 1 Latitude
Node 1 Longitude
Node 2 Latitude
Node 2 Longitude
Node 3 Latitude
Node 3 Longitude
1.22 1.54 2.07 0.67 1.29 3.28
Node 1 Node 2 Node 3
1.035 4.275 5.342
CSD
1.22
CEP
2.15
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CEP Shown in ASTRA User Terminal View
ASTRA
PRE-SHOT DISPLAY POST-SHOT DISPLAY
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Circular Error Probability (CEP) on ASTRA User Terminal
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4.28m
CEP=0.62 σy+0.56 σx
σy= 1.06 meters
σx= 2.66 meters
Novatel Study: APN-029 Rev 1, 3DEC2003
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ASTRA
Threshold
Samples
Ma
gnitu
de (
DB
) = Threshold= Data
Thresh Xing
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CA-CFAR Plot Using Recorded Gunshot Data
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ASTRA
Team ASTRA
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