The paper presents a novel sensor fusion technique
to shooter localization using a wireless network of single-channel
acoustic sensors. The unique challenge is that the number of
available sensors is very limited. The first contribution of the
work is an approach to estimate the miss distance of the shot and
the range to the shooter from a single shot using a single sensor.
The second contribution is the novel sensor fusion algorithm
itself that fuses the miss distance and range estimates of the
individual nodes as well as their Time of Arrival observations of
the shockwave and the muzzle blast. The performance of both the
single sensor method and the network fusion are very promising.