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This paper presents the design, implementation and performance evaluation of a wireless sensor network based sniper fire localization system. Time-of-arrival (TOA) measurements from various sensor nodes are fused together for estimating various parameters of a supersonic projectile, including its trajectory and speed. Our system uses a genetic algorithm based data fusion framework. The system uses a novel approach for the selection of TOA measurements. We obtained very low error bounds both in the trajectory and velocity estimation results. We believe that the presented comprehensive design details of different components of the system, the developed simulation tool and the validation of results from real shooting experiments will be useful to the community.