Abstract: In order to reduce the positioning error introduced by the traditional double triangle array positioning model due to that the projectile penetrating obliquely into a target plane, the propagation path of shockwave caused by projectile which obliquely penetrates into the target surface spreading to the sensor is analyzed, and an oblique penetration positioning model of double triangular array based on the shock wave propagation path is proposed. To verify the proposed model, the positioning error of oblique penetration and the traditional model were respectively simulated by MATLAB software. The simulated results show that the oblique penetration model effectively reduces the positioning error caused by the penetration angle. A small-angle firing experiment of 5.8 mm rifle in the absence of wind was designed. The experimental results show that,compared with the traditional double triangle array model, the average positioning error of projectile coordinates measured by the oblique penetration model is reduced by 43.46% and the positioning accuracy is improved to less than 1 cm under the same hardware conditions. Key

Key words: bullet, acousticlocalization, shockwavepropagationpath, obliquepenetration, doubletrianglearray