@aibee/crc-bmap 0.2.14 → 0.2.16

package/lib/bmap.esm.js

@@ -10948,7 +10948,7 @@ var Navigation = class extends Plugin {
     if (this.startPoi) {
       const azimuthalAngle = this.bmap.context.control.getAzimuthalAngle();
       const azimuthal = (azimuthalAngle * 180 / Math.PI + 360) % 360;
-      this.startPoi.options.icon_rotate = (180 - rotate - azimuthal) % 360;
+      this.startPoi.options.icon_rotate = (360 - rotate - azimuthal) % 360;
     }
   }
   dispose() {
@@ -21545,6 +21545,10 @@ var ParticleFilter = class {
   // 粒子的权重
   last_compass_time;
   // 上次罗盘更新时间
+  last_yaw_compass = 0;
+  // 上次罗盘的航向角
+  compass_consecutive_offset_count = 0;
+  // 罗盘连续偏移次数
   constructor(parameters) {
     this.NumParticle = parameters.NumParticle;
     this.reSampNumParticle = parameters.reSampNumParticle;
@@ -21575,6 +21579,7 @@ var ParticleFilter = class {
    */
   motionModelRotYaw(delta_yaw) {
     if (Math.abs(delta_yaw) < 1e-3) return;
+    this.last_yaw_compass = limitYaw(this.last_yaw_compass + delta_yaw);
     for (let index = 0; index < this.NumParticle; index++) {
       const yaw_noise = Math.random() * this.yaw_noise_sigma;
       this.particleX[2][index] = this.particleX[2][index] + delta_yaw + yaw_noise;
@@ -21610,6 +21615,14 @@ var ParticleFilter = class {
       let compass = 360 - compass_yaw;
       compass += this.delta_yaw;
       compass = limitYaw(compass);
+      if (Math.abs(compass - this.last_yaw_compass) > 60) {
+        this.compass_consecutive_offset_count++;
+      } else {
+        this.compass_consecutive_offset_count = 0;
+      }
+      if (this.compass_consecutive_offset_count >= 5) {
+        this.initParticlesByCompass(compass_yaw);
+      }
       for (let index = 0; index < this.NumParticle; index++) {
         let err_yaw = Math.abs(this.particleX[2][index] - compass);
         if (err_yaw > 180) err_yaw = 360 - err_yaw;
@@ -21782,6 +21795,8 @@ var ParticleFilter = class {
     }
     this.particle_yawInitFlag = true;
     this.xEst[2][0] = yaw_compass;
+    this.last_yaw_compass = yaw_compass;
+    this.compass_consecutive_offset_count = 0;
   }
 };