A gunshot location system computes candidate gunshot locations [314] from
angle-of-arrival information [304, 308] and time-of-arrival information
[312] provided by acoustic sensors [300, 302]. In addition to an angle,
each sensor calculates an angular uncertainty [306, 310] from impulses
received at four or more microphones having rotational symmetry. An
intersection of one or more time-of-arrival hyperbolas with one or more
angle-of-arrival beams [322] is used to determine a candidate gunshot
location. In simple environments, a location can be confirmed with just
two sensors allowing sensor density to be significantly reduced, while in
complex environments including reflections, blocking, and interfering
acoustic events, the additional angle-of-arrival information improves
location accuracy and confidence, allowing elimination of candidate
locations inconsistent with the combined time-of-arrival and
angle-of-arrival information.