The answer is Penthesilea, Queen of the Amazons. Here's how Fitzgerald translates the relevant passage from Book I:
Then, leading the battalion of Amazons,
With half-moon shields, he saw Penthesilea
Fiery amid her host, buckling a golden
Girdle beneath her bare and arrogant breast,
A girl who dared fight men, a warrior queen.
In this passage the fire motif is present (although its full significance isn't clear until Book II). It is perhaps significant that she is the last figure mentioned and in the same verse paragraph in which Aeneas sees himself. Anyway, as you noted, the parallel with Camilla is clear, again reinforcing the idea that the last half of the Aeneid is Virgil's Iliad and, I suppose, that history repeats itself.