| 主权项 |
1. System for route planning (700) configured to be mounted on a moving object, said system comprising:
a route planning module (705) configured to:
plan a route of the object upon request, the route being configured such that occasions of being visible from any point in the map within a shooting range during a predetermined time period are minimized;determine areas (608) in the 3D map in which the object will be exposed to a potential threat during a predetermined time period based on line of sight calculations; anddetermine a re-planned route based on exposure to said potential threat areas (608); a position module (702) configured to:
register the present position of the moving object at the request; anddetermine the travel path of the moving object during a predetermined time period preceding the request, wherein the present position represents a target position for firing; and a firer location estimation module (704) configured to estimate the location of a firer based only on a combination of the registered position, the determined travel path, map data (701) comprising 3D geographical coordinates data, and line of sight calculations using the assumption that the object has been visible to the threat substantially during the whole predetermined time period, wherein the route planning module (705) is further configured to plan a route of the object based on the determined location of the firer, and wherein the planned route is displayed or used for control of the moving object. |
