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Dynamic route planning

  • US 9,163,949 B2
  • Filed: 11/08/2011
  • Issued: 10/20/2015
  • Est. Priority Date: 11/08/2011
  • Status: Active Grant
First Claim
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1. Method for determining the location of a firer (800), said method comprising the steps of:

  • determining the position of a moving object (802) at the detection of firing against the object (801);

    estimating a plurality of positions for the moving object (803) during a predetermined time period preceding the firing; and

    estimating the location of a firer (804) based on a three dimensional map data and based on the determined position of the moving object at the firing and the plurality of positions of the moving object during the predetermined time period preceding the firing,wherein the location of the firer (804) is estimated from line of sight calculations based on the assumption that the moving object has been visible to the firer substantially during the whole predetermined time period.

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