function [let_p,lon_p,d_p]=getGeo(x_img,y_img,range,lat,lon,dep,yaw,speed)
c = 1500.0;
startTime= 0.0;
endTime = 1.0;
millis= (endTime - y_img * (endTime-startTime)); % in millisekunden vom bildrand
micros= ((range * 2 * x_img - range) * 1e6/c ); % in microsekunden von der Mitte

horizontal_distance = micros * c/1e6;
rp = horizontal_distance;
r = abs(rp);
a = dep;

if abs(r) < a 
    h = sign(rp);
else
    h= sign(rp) * sqrt(r*r - a*a);
end

if h < 0.0
    angle = pi;
else
    angle = 0.0;
end
angle = angle - yaw;
north = abs(h) * sin(angle);
east = abs(h) * cos(angle);
[let_p,lon_p,d_p]=WGS84displace(lat,lon,0,north,east,0.0);



