{"id":"https://openalex.org/W2978238115","doi":"https://doi.org/10.3390/s19194271","title":"Gunshot Airborne Surveillance with Rotary Wing UAV-Embedded Microphone Array","display_name":"Gunshot Airborne Surveillance with Rotary Wing UAV-Embedded Microphone Array","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2978238115","doi":"https://doi.org/10.3390/s19194271","mag":"2978238115","pmid":"https://pubmed.ncbi.nlm.nih.gov/31581585"},"language":"en","primary_location":{"id":"doi:10.3390/s19194271","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19194271","pdf_url":"https://www.mdpi.com/1424-8220/19/19/4271/pdf?version=1570701270","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/19/4271/pdf?version=1570701270","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017668927","display_name":"Felipe G. Serrenho","orcid":"https://orcid.org/0000-0002-6305-4650"},"institutions":[{"id":"https://openalex.org/I41870","display_name":"Military Institute of Engineering","ror":"https://ror.org/03veakt65","country_code":"BR","type":"education","lineage":["https://openalex.org/I41870"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Felipe Gon\u00e7alves Serrenho","raw_affiliation_strings":["Department of Electrical Engineering, Military Institute of Engineering (IME), Rio de Janeiro 22290-270, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-6305-4650","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Military Institute of Engineering (IME), Rio de Janeiro 22290-270, Brazil","institution_ids":["https://openalex.org/I41870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061595221","display_name":"Jos\u00e9 A. Apolin\u00e1rio","orcid":"https://orcid.org/0000-0003-1426-9636"},"institutions":[{"id":"https://openalex.org/I41870","display_name":"Military Institute of Engineering","ror":"https://ror.org/03veakt65","country_code":"BR","type":"education","lineage":["https://openalex.org/I41870"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Antonio Apolin\u00e1rio","raw_affiliation_strings":["Department of Electrical Engineering, Military Institute of Engineering (IME), Rio de Janeiro 22290-270, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-1426-9636","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Military Institute of Engineering (IME), Rio de Janeiro 22290-270, Brazil","institution_ids":["https://openalex.org/I41870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079521180","display_name":"Ant\u00f3nio L. L. Ramos","orcid":"https://orcid.org/0000-0002-3584-8701"},"institutions":[{"id":"https://openalex.org/I2801380234","display_name":"University of South-Eastern Norway","ror":"https://ror.org/05ecg5h20","country_code":"NO","type":"education","lineage":["https://openalex.org/I2801380234"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Ant\u00f3nio Luiz Lopes Ramos","raw_affiliation_strings":["Department of Science and Industry Systems, University of South-Eastern Norway (USN), 3616 Kongsberg, Norway"],"raw_orcid":"https://orcid.org/0000-0002-3584-8701","affiliations":[{"raw_affiliation_string":"Department of Science and Industry Systems, University of South-Eastern Norway (USN), 3616 Kongsberg, Norway","institution_ids":["https://openalex.org/I2801380234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072034962","display_name":"Rigel Proc\u00f3pio Fernandes","orcid":"https://orcid.org/0000-0001-5269-2342"},"institutions":[{"id":"https://openalex.org/I41870","display_name":"Military Institute of Engineering","ror":"https://ror.org/03veakt65","country_code":"BR","type":"education","lineage":["https://openalex.org/I41870"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Rigel Proc\u00f3pio Fernandes","raw_affiliation_strings":["Program of Defense Engineering, Military Institute of Engineering (IME), Rio de Janeiro 22290-270, Brazil"],"raw_orcid":"https://orcid.org/0000-0001-5269-2342","affiliations":[{"raw_affiliation_string":"Program of Defense Engineering, Military Institute of Engineering (IME), Rio de Janeiro 22290-270, Brazil","institution_ids":["https://openalex.org/I41870"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5017668927"],"corresponding_institution_ids":["https://openalex.org/I41870"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":0.7721,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.73607595,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"19","issue":"19","first_page":"4271","last_page":"4271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11665","display_name":"Animal Vocal Communication and Behavior","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/1309","display_name":"Developmental Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.7992117404937744},{"id":"https://openalex.org/keywords/muzzle","display_name":"Muzzle","score":0.7920262813568115},{"id":"https://openalex.org/keywords/microphone-array","display_name":"Microphone array","score":0.7359058856964111},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.6504672765731812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.595604658126831},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.5182604789733887},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.43080177903175354},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.430031418800354},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3963930606842041},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3445272445678711},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3334020972251892},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3307974934577942},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1496284306049347},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12239959836006165},{"id":"https://openalex.org/keywords/sound-pressure","display_name":"Sound pressure","score":0.12140399217605591}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7992117404937744},{"id":"https://openalex.org/C2780673119","wikidata":"https://www.wikidata.org/wiki/Q487192","display_name":"Muzzle","level":3,"score":0.7920262813568115},{"id":"https://openalex.org/C2778806681","wikidata":"https://www.wikidata.org/wiki/Q907293","display_name":"Microphone array","level":4,"score":0.7359058856964111},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.6504672765731812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.595604658126831},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.5182604789733887},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.43080177903175354},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.430031418800354},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3963930606842041},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3445272445678711},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3334020972251892},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3307974934577942},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1496284306049347},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12239959836006165},{"id":"https://openalex.org/C68115822","wikidata":"https://www.wikidata.org/wiki/Q1068172","display_name":"Sound pressure","level":2,"score":0.12140399217605591},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C172227984","wikidata":"https://www.wikidata.org/wiki/Q1400397","display_name":"Barrel (horology)","level":2,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s19194271","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19194271","pdf_url":"https://www.mdpi.com/1424-8220/19/19/4271/pdf?version=1570701270","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:31581585","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31581585","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:6806267","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6806267","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:f9d8c1e3f1f746a48fd67502faca607f","is_oa":true,"landing_page_url":"https://doaj.org/article/f9d8c1e3f1f746a48fd67502faca607f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 19, Iss 19, p 4271 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/19/4271/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19194271","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"},{"id":"pmh:oai:openarchive.usn.no:11250/2650579","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/2650579","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"26","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3390/s19194271","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19194271","pdf_url":"https://www.mdpi.com/1424-8220/19/19/4271/pdf?version=1570701270","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1034718942","display_name":null,"funder_award_id":"23038.018065/2018-17","funder_id":"https://openalex.org/F4320321091","funder_display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior"},{"id":"https://openalex.org/G2000755953","display_name":null,"funder_award_id":"UTF-2016-CAPES-SIU/10031","funder_id":"https://openalex.org/F4320327758","funder_display_name":"Direktoratet for internasjonalisering og kvalitetsutvikling i h\u00f8gare utdanning"}],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"},{"id":"https://openalex.org/F4320327758","display_name":"Direktoratet for internasjonalisering og kvalitetsutvikling i h\u00f8gare utdanning","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W1008595504","https://openalex.org/W1488054016","https://openalex.org/W1519226138","https://openalex.org/W1550199317","https://openalex.org/W1561135842","https://openalex.org/W1561468309","https://openalex.org/W1570694229","https://openalex.org/W1822243112","https://openalex.org/W1943820884","https://openalex.org/W1963613351","https://openalex.org/W1978528959","https://openalex.org/W1980808102","https://openalex.org/W1991674604","https://openalex.org/W2010265555","https://openalex.org/W2011347651","https://openalex.org/W2029661668","https://openalex.org/W2033586361","https://openalex.org/W2034702404","https://openalex.org/W2046317813","https://openalex.org/W2061277372","https://openalex.org/W2073734813","https://openalex.org/W2075048221","https://openalex.org/W2076224212","https://openalex.org/W2100818340","https://openalex.org/W2101856597","https://openalex.org/W2109355036","https://openalex.org/W2110034964","https://openalex.org/W2113638573","https://openalex.org/W2114863372","https://openalex.org/W2121973264","https://openalex.org/W2122077079","https://openalex.org/W2133760176","https://openalex.org/W2142687095","https://openalex.org/W2144561273","https://openalex.org/W2149154415","https://openalex.org/W2291679657","https://openalex.org/W2325424008","https://openalex.org/W2400646590","https://openalex.org/W2462155121","https://openalex.org/W2548478348","https://openalex.org/W2553033130","https://openalex.org/W2591023064","https://openalex.org/W2611462463","https://openalex.org/W2673086341","https://openalex.org/W2766086962","https://openalex.org/W2791044922","https://openalex.org/W2796538318","https://openalex.org/W2801865069","https://openalex.org/W2811065832","https://openalex.org/W2897675304","https://openalex.org/W2900160352","https://openalex.org/W2908635073","https://openalex.org/W2910912874","https://openalex.org/W2912439585","https://openalex.org/W2914287797","https://openalex.org/W2939285537","https://openalex.org/W2975519596","https://openalex.org/W3147204466","https://openalex.org/W3147539069","https://openalex.org/W4230372576","https://openalex.org/W6631188213","https://openalex.org/W6645462320","https://openalex.org/W6658711641","https://openalex.org/W6712590666"],"related_works":["https://openalex.org/W1879255185","https://openalex.org/W2769861442","https://openalex.org/W2120442551","https://openalex.org/W1980506188","https://openalex.org/W4240587264","https://openalex.org/W2900122540","https://openalex.org/W2963983801","https://openalex.org/W3119734852","https://openalex.org/W2804363668","https://openalex.org/W1515932869"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1,28],"vehicles":[2],"(UAV)":[3],"are":[4,12],"growing":[5],"in":[6,117,170],"popularity,":[7],"and":[8,112,137],"recent":[9],"technological":[10],"advances":[11],"fostering":[13],"the":[14,25,46,50,55,64,68,74,79,86,121,127,152,157,161,178],"development":[15],"of":[16,27,43,66,81,85,135,151,163],"new":[17],"applications":[18],"for":[19,33,126],"these":[20],"devices.":[21],"This":[22,88],"paper":[23],"discusses":[24],"use":[26,132],"drones":[29],"as":[30],"a":[31,35,82,102,106,133,143,148,171,174,182,202,207],"platform":[32],"deploying":[34],"gunshot":[36,139],"surveillance":[37],"system":[38],"based":[39,72],"on":[40,73,91,147,189,206],"an":[41,61],"array":[42,104,145,204],"microphones.":[44],"Notwithstanding":[45],"difficulties":[47],"associated":[48],"with":[49,78],"inherent":[51],"additive":[52],"noise":[53],"from":[54,101,156,177],"rotating":[56],"propellers,":[57],"this":[58],"application":[59,128],"brings":[60],"important":[62],"advantage:":[63],"possibility":[65],"estimating":[67],"shooter":[69],"position":[70],"solely":[71],"muzzle":[75,180],"blast":[76],"sound,":[77],"support":[80],"digital":[83],"map":[84],"terrain.":[87],"work":[89],"focuses":[90],"direction-of-arrival":[92],"(DoA)":[93],"estimation":[94,115],"methods":[95],"applied":[96],"to":[97,119,186],"audio":[98],"signals":[99,140],"obtained":[100],"microphone":[103,144,203],"aboard":[105],"flying":[107],"drone.":[108,208],"We":[109,131],"investigate":[110],"preprocessing":[111],"different":[113],"DoA":[114],"techniques":[116],"order":[118],"obtain":[120],"setup":[122],"that":[123,194],"performs":[124],"better":[125],"at":[129],"hand.":[130],"combination":[134],"simulated":[136],"actual":[138],"recorded":[141,169],"using":[142,201],"mounted":[146,205],"UAV.":[149],"One":[150],"key":[153],"insights":[154],"resulting":[155],"field":[158],"recordings":[159],"is":[160],"importance":[162],"drone":[164],"positioning,":[165],"whereby":[166],"all":[167],"gunshots":[168],"region":[172],"outside":[173],"cone":[175],"open":[176],"gun":[179],"presented":[181],"hit":[183],"rate":[184],"close":[185],"96%.":[187],"Based":[188],"experimental":[190],"results,":[191],"we":[192],"claim":[193],"reliable":[195],"bearing":[196],"estimates":[197],"can":[198],"be":[199],"achieved":[200]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}