| 摘要 |
The present invention relates to a method for determining the location of a firer, furthermore a system and method for route planning (700). The system is arranged to be mounted on a moving object. The system comprises a position module (702), a firer location estimation module (704) and a route planning module (705). The position module (702) is arranged register the present position of the moving object at request and to determine 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. The firer location method and the estimation module (704) is arranged to estimate the location of a firer based on the registered position and the determined travel path and based on map data (701) comprising 3D geographical coordinates data. The route planning module (705) arranged to plan a route of the object based on the determined location of the firer. |
