@aibee/crc-bmap 0.8.24 → 0.8.26

package/lib/bmap.esm.js

@@ -12214,7 +12214,6 @@ var Sensor = class extends EventDispatcher16 {
   }
   listenGps() {
     this.gpsTimer = navigator.geolocation.watchPosition((position) => {
-      console.log("position", position);
       this.addDataItem({
         type: "gps" /* GPS */,
         timestamp: Date.now(),
@@ -23921,6 +23920,7 @@ var PositioningSystem = class {
   position_count = 0;
   gps_max_horizontalAccuracy = 20;
   MaxEstimateErr = 5;
+  GpsMaxEstimateErr = 30;
   outTrustRegionNum = 0;
   TrustNum = 4;
   cacheSensorData = [];
@@ -23969,11 +23969,10 @@ var PositioningSystem = class {
       if (this.using_gps && data_type === "gps" /* GPS */) {
         if (this.last_beacon_time === null || time - this.last_beacon_time > 5e3) {
           const gps_pos = this.getGpsPosition(data);
-          console.log("gps_pos", gps_pos);
           success = gps_pos !== null;
           if (gps_pos) {
             this.particleFilter.update(gps_pos, this.gps_horizontalAccuracy);
-            this.resetParticleFilterDist(gps_pos);
+            this.resetParticleFilterDist(gps_pos, "gps", data[2]);
             this.particleFilter.resampling();
             this.position_count += 1;
             this.cacheSensorData.length = 0;
@@ -24052,13 +24051,16 @@ var PositioningSystem = class {
    * @returns
    */
   getGpsPosition(data) {
+    if (data[2] > this.gps_max_horizontalAccuracy) {
+      return null;
+    }
     return wgs84ToWebMercator(data[0], data[1]);
   }
-  resetParticleFilterDist(pos) {
+  resetParticleFilterDist(pos, type, accuracy) {
     const pfPosX = this.particleFilter.getResultX();
     const pfPosY = this.particleFilter.getResultY();
     const dist = euclideanDist(pfPosX, pfPosY, pos.x, pos.y);
-    if (dist > this.MaxEstimateErr) {
+    if (type === "gps" ? accuracy && dist > accuracy || dist > this.GpsMaxEstimateErr : dist > this.MaxEstimateErr) {
       this.outTrustRegionNum += 1;
       if (this.outTrustRegionNum >= this.TrustNum) {
         console.info(`\u8D85\u51FA\u53EF\u4FE1\u533A\u57DF\uFF0C\u91CD\u7F6E\u7C92\u5B50\u8FC7\u6EE4\u5668\u5230: ${pos.x}, ${pos.y}`);