@aibee/crc-bmap 0.8.43 → 0.8.45

package/lib/bmap.esm.js

@@ -524,7 +524,6 @@ var Timer = class {
   }
   setInterval(fn, wait) {
     const timer = window.setInterval(() => {
-      this.tasks.interval.delete(timer);
       fn();
     }, wait);
     this.tasks.interval.add(timer);
@@ -7798,7 +7797,9 @@ var Control = class extends OrbitControls {
         }).onStart(() => {
           _this.enabled = false;
         }).start();
-      }), duration + 500);
+      }), duration + 500).finally(() => {
+        _this.enabled = true;
+      });
     })();
   }
   setTargetByOffset(offsetY, target = this.target.clone()) {
@@ -9711,10 +9712,10 @@ var Path2 = class extends Object3D14 {
 
 // ../lib/src/plugins/navigation/navigation.js
 import { Tween as Tween3, Easing } from "@tweenjs/tween.js";
-import { Vector3 as Vector321 } from "three";
+import { Vector2 as Vector216, Vector3 as Vector321 } from "three";
 
 // ../lib/src/plugins/navigation/position-navigation.js
-import { EventDispatcher as EventDispatcher13 } from "three";
+import { EventDispatcher as EventDispatcher13, Vector2 as Vector215 } from "three";
 import { Tween as Tween2 } from "@tweenjs/tween.js";
 import { throttle } from "lodash";
 var defaultConfig3 = {
@@ -9828,7 +9829,6 @@ var PositionNavigation = class extends EventDispatcher13 {
   }
   toPosition(floor, pos) {
     const adsorbData = this.adsorb(floor, pos);
-    console.log("adsorbData", adsorbData);
     if (!adsorbData) {
       return;
     }
@@ -9970,6 +9970,8 @@ var PositionNavigation = class extends EventDispatcher13 {
     let dir = PathDirection.FRONT;
     let crossName = (curRoutePath == null ? void 0 : (_curRoutePath_pointInfos_index = curRoutePath.pointInfos[index]) == null ? void 0 : _curRoutePath_pointInfos_index.crossName) || "";
     let distance = 0;
+    let angle = 0;
+    let nextAngle = 0;
     while (dir === PathDirection.FRONT && index <= curRoutePathPoints.length) {
       const p1 = curRoutePathPoints[index];
       const p2 = curRoutePathPoints[index + 1];
@@ -9977,40 +9979,40 @@ var PositionNavigation = class extends EventDispatcher13 {
       if (!p1 || !p2) {
         dir = PathDirection.END;
       } else {
-        if (pointIndex === 0) {
-          const l = getLength(p1, position);
-          if (l < 5) {
-            dir = PathDirection.START;
-          } else {
-            dir = PathDirection.FRONT;
-            index += 1;
-          }
+        distance += getLength(p1, p2);
+        if (!p3) {
+          dir = PathDirection.END;
         } else {
-          distance += getLength(p1, p2);
-          if (!p3) {
-            dir = PathDirection.END;
-          } else {
-            dir = calc_direction(p1, p2, p3);
-            var _curRoutePath_pointInfos__crossName;
-            crossName = (_curRoutePath_pointInfos__crossName = curRoutePath == null ? void 0 : curRoutePath.pointInfos[index + 1].crossName) != null ? _curRoutePath_pointInfos__crossName : "";
-            index += 1;
-          }
+          dir = calc_direction(p1, p2, p3);
+          angle = calc_angle(p1, p2, p3);
+          const nextRadians = new Vector215(p3[0] - p2[0], p3[1] - p2[1]).angle();
+          nextAngle = (nextRadians * 180 / Math.PI - 90 + 360) % 360;
+          var _curRoutePath_pointInfos__crossName;
+          crossName = (_curRoutePath_pointInfos__crossName = curRoutePath == null ? void 0 : curRoutePath.pointInfos[index + 1].crossName) != null ? _curRoutePath_pointInfos__crossName : "";
+          index += 1;
         }
       }
     }
+    if (curRoutePathPoints[index]) {
+      distance = getLength(position, curRoutePathPoints[index]);
+    }
     if (dir === PathDirection.END && distance <= this.options.directionEmitThreshold) {
       return {
         dir,
         distance,
-        crossName
+        crossName,
+        angle,
+        nextAngle
       };
     }
     const distanceToStart = this.getCurRouteToStartDistance();
-    if (distanceToStart <= 5) {
+    if (pointIndex === 0 && distanceToStart <= 5) {
       return {
         dir: PathDirection.START,
         distance,
-        crossName
+        crossName,
+        angle,
+        nextAngle
       };
     }
     if (distance >= this.options.directionEmitThreshold) {
@@ -10019,7 +10021,9 @@ var PositionNavigation = class extends EventDispatcher13 {
     return {
       dir,
       distance,
-      crossName
+      crossName,
+      angle,
+      nextAngle
     };
   }
   getNavigationInfo() {
@@ -10028,7 +10032,7 @@ var PositionNavigation = class extends EventDispatcher13 {
     if (!nextDirInfo) {
       return null;
     }
-    let { dir, distance: nextDirDistance, crossName } = nextDirInfo;
+    let { dir, distance: nextDirDistance, crossName, angle, nextAngle } = nextDirInfo;
     if (curRouteRemainDistance <= 10) {
       dir = PathDirection.END;
     }
@@ -10037,6 +10041,8 @@ var PositionNavigation = class extends EventDispatcher13 {
       curRouteDistance: curRouteRemainDistance,
       nextDirDistance,
       dir,
+      angle,
+      nextAngle,
       pos: this.position,
       routeIndex: this.routeIndex,
       crossName,
@@ -10231,7 +10237,8 @@ var defaultConfig4 = {
   directionEmitThreshold: 5,
   disablePathAnimation: false,
   speed: 1,
-  roadData: []
+  roadData: [],
+  runAnimationMaxTime: 1
 };
 var Navigation = class extends Plugin {
   get curFloorPathLength() {
@@ -10248,6 +10255,7 @@ var Navigation = class extends Plugin {
     this.bmap.context.addEventListener("update", this.onUpdate);
     this.bmap.addEventListener(HooksName.SWITCH_FLOOR_AFTER, this.onSwitchFloor);
     this.positionNavigation.addEventListener("navigation-info", this.onNavigationInfo);
+    this.bmap.context.addEventListener("control-change", this.onControlChangeForStartPoi);
   }
   showStartRotateHelperPoi() {
     var _this_bmap_context_currentFloor;
@@ -10319,6 +10327,7 @@ var Navigation = class extends Plugin {
     this.bmap.context.removeEventListener("update", this.onUpdate);
     this.bmap.removeEventListener(HooksName.SWITCH_FLOOR_AFTER, this.onSwitchFloor);
     this.positionNavigation.removeEventListener("navigation-info", this.onNavigationInfo);
+    this.bmap.context.removeEventListener("control-change", this.onControlChangeForStartPoi);
   }
   clearPath() {
     if (this.path) {
@@ -10343,9 +10352,11 @@ var Navigation = class extends Plugin {
     if (path === null) {
       this.curFloorPath = null;
       this.currentPathPosition = null;
+      this.toPointPosition = null;
     } else {
       this.curFloorPath = path;
       this.currentPathPosition = path.points[0];
+      this.toPointPosition = path.points[0];
     }
     this.movedDistance = 0;
     this.clearTween();
@@ -10466,6 +10477,21 @@ var Navigation = class extends Plugin {
     const finalAngle = sign * angle;
     return finalAngle;
   }
+  // 计算路线的方向 0 ~ 360
+  getPathDirection2() {
+    if (!this.curFloorPath || !this.toPointPosition) {
+      return null;
+    }
+    if (this.curFloorPathPoints.length < 2) {
+      return null;
+    }
+    const index = getPointEdgeIndex(this.curFloorPathPoints, this.toPointPosition);
+    const l1 = this.curFloorPathPoints[index];
+    const l2 = this.curFloorPathPoints[index + 1];
+    const v1 = new Vector216(l2[0] - l1[0], l2[1] - l1[1]).normalize();
+    const angle = v1.angle() * 180 / Math.PI;
+    return (angle - 90 + 360) % 360;
+  }
   // 把相机旋转到路线的上方向
   changeCameraToPathUp(duration = 100) {
     var _this = this;
@@ -10638,7 +10664,7 @@ var Navigation = class extends Plugin {
       if (!distance) {
         return;
       }
-      const time = Math.min(distance / speed, 1);
+      const time = Math.min(distance / speed, _this.options.runAnimationMaxTime);
       if (_this.pathTween) {
         _this.clearTween();
       }
@@ -10686,6 +10712,7 @@ var Navigation = class extends Plugin {
     })();
   }
   setStartPoiRotate(rotate) {
+    this.startPoiRotate = rotate;
     if (this.startPoi) {
       const azimuthalAngle = this.bmap.context.control.getAzimuthalAngle();
       const azimuthal = (azimuthalAngle * 180 / Math.PI + 360) % 360;
@@ -10709,7 +10736,7 @@ var Navigation = class extends Plugin {
     this.positionNavigation.dispose();
   }
   constructor(bmap, project = {}, options) {
-    super(bmap), this.path = null, this.fetchRoadStatus = false, this.paths = [], this.curPathIndex = 0, this.curFloorPath = null, this.translatePath = null, this.currentPathPosition = null, this.pathTween = null, this.startPoi = null, this.startRotateHelperPoi = null, this.needStartRotateHelperPoi = false, this.movedDistance = 0, this.pathStart = [
+    super(bmap), this.path = null, this.fetchRoadStatus = false, this.paths = [], this.curPathIndex = 0, this.curFloorPath = null, this.translatePath = null, this.currentPathPosition = null, this.toPointPosition = null, this.pathTween = null, this.startPoi = null, this.startPoiRotate = 0, this.startRotateHelperPoi = null, this.needStartRotateHelperPoi = false, this.movedDistance = 0, this.pathStart = [
       0,
       0
     ], this.tweenUtil = new TweenUtil(), this.taskQueue = new TaskQueue(), // 处理路线动画
@@ -10724,6 +10751,7 @@ var Navigation = class extends Plugin {
         if (info.routeIndex !== this.curPathIndex) {
           return;
         }
+        this.toPointPosition = info.pos;
         this.toPositionByTask(info.pos);
       }
     }, this.onUpdate = () => {
@@ -10741,6 +10769,10 @@ var Navigation = class extends Plugin {
       } else {
         this.clearPath();
       }
+    }, this.onControlChangeForStartPoi = () => {
+      if (this.startPoi) {
+        this.setStartPoiRotate(this.startPoiRotate);
+      }
     };
     if (!options && typeof project === "object") {
       options = project;
@@ -12287,7 +12319,7 @@ var PdrPosition = class extends EventDispatcher17 {
 };
 
 // ../lib/src/plugins/mul-floor-navigation/path.js
-import { Mesh as Mesh12, Object3D as Object3D15, TextureLoader as TextureLoader3, Color as Color8, Vector2 as Vector215, Vector3 as Vector323, NormalBlending as NormalBlending2, RepeatWrapping as RepeatWrapping2 } from "three";
+import { Mesh as Mesh12, Object3D as Object3D15, TextureLoader as TextureLoader3, Color as Color8, Vector2 as Vector217, Vector3 as Vector323, NormalBlending as NormalBlending2, RepeatWrapping as RepeatWrapping2 } from "three";
 var defaultConfig5 = {
   texture_url: Arrow3,
   lineWidth: 8,
@@ -12318,7 +12350,7 @@ var MulPath = class extends Object3D15 {
       return;
     }
     const repeat = this.getRepeat();
-    this.material.repeat = new Vector215(repeat, 1);
+    this.material.repeat = new Vector217(repeat, 1);
   }
   loadTexture(url) {
     return new Promise((r, j) => {
@@ -12359,13 +12391,13 @@ var MulPath = class extends Object3D15 {
         useMap: true,
         color: new Color8(_this.config.color),
         transparent: true,
-        resolution: new Vector215(_this.navigation.bmap.context.clientSize.width, _this.navigation.bmap.context.clientSize.height),
+        resolution: new Vector217(_this.navigation.bmap.context.clientSize.width, _this.navigation.bmap.context.clientSize.height),
         depthTest: true,
         sizeAttenuation: false,
         lineWidth: _this.config.lineWidth * 2,
         map: _this.texture,
         blending: NormalBlending2,
-        repeat: new Vector215(_this.getRepeat(), 1)
+        repeat: new Vector217(_this.getRepeat(), 1)
       });
       const mesh = _this.mesh = new Mesh12(lineGeometry, material);
       mesh.renderOrder = 9;
@@ -12408,7 +12440,7 @@ var MulPath = class extends Object3D15 {
 import { Tween as Tween4 } from "@tweenjs/tween.js";
 
 // ../lib/src/plugins/mul-floor-navigation/start-model.js
-import { AnimationMixer, Box3 as Box310, Object3D as Object3D16, Box2 as Box23, Vector3 as Vector324, Vector2 as Vector216 } from "three";
+import { AnimationMixer, Box3 as Box310, Object3D as Object3D16, Box2 as Box23, Vector3 as Vector324, Vector2 as Vector218 } from "three";
 var StartModel = class extends Object3D16 {
   getBaseScale(object) {
     const { clientSize: { width, height }, camera } = this.bmap.context;
@@ -12423,12 +12455,12 @@ var StartModel = class extends Object3D16 {
     const leftBottom2d = vector3ToDevice(leftBottom, camera, width, height);
     const rightBottom2d = vector3ToDevice(rightBottom, camera, width, height);
     const boundingBox2d = new Box23().setFromPoints([
-      new Vector216(leftTop2d.x, leftTop2d.y),
-      new Vector216(rightTop2d.x, rightTop2d.y),
-      new Vector216(leftBottom2d.x, leftBottom2d.y),
-      new Vector216(rightBottom2d.x, rightBottom2d.y)
+      new Vector218(leftTop2d.x, leftTop2d.y),
+      new Vector218(rightTop2d.x, rightTop2d.y),
+      new Vector218(leftBottom2d.x, leftBottom2d.y),
+      new Vector218(rightBottom2d.x, rightBottom2d.y)
     ]);
-    const size = boundingBox2d.getSize(new Vector216());
+    const size = boundingBox2d.getSize(new Vector218());
     const xScale = 40 / size.x;
     const yScale = 40 / size.y;
     const scale = Math.min(xScale, yScale);
@@ -12723,7 +12755,7 @@ var MulFloorNavigation = class extends Plugin {
 };
 
 // ../lib/src/plugins/mul-floor-select/mul-floor-select.js
-import { EventDispatcher as EventDispatcher18, Raycaster as Raycaster2, Vector2 as Vector217 } from "three";
+import { EventDispatcher as EventDispatcher18, Raycaster as Raycaster2, Vector2 as Vector219 } from "three";
 var MulFloorSelect = class extends EventDispatcher18 {
   registryEvent() {
     this.clickHelper.addEventListener("click", this._click);
@@ -12740,7 +12772,7 @@ var MulFloorSelect = class extends EventDispatcher18 {
       if (!this.mulFloors.showStatus) {
         return;
       }
-      const point3 = new Vector217();
+      const point3 = new Vector219();
       const { offsetX: x, offsetY: y } = e;
       const { clientSize } = this.bmap.context;
       point3.x = x / clientSize.width * 2 - 1;
@@ -12791,14 +12823,10 @@ var MulFloorSelect = class extends EventDispatcher18 {
 };
 
 // ../lib/src/plugins/car-inertial-position/car-inertial-position.js
-import { EventDispatcher as EventDispatcher20 } from "three";
-
-// ../lib/src/plugins/car-inertial-position/compass.js
-import { isNil as isNil5 } from "lodash";
 import { EventDispatcher as EventDispatcher19 } from "three";
 
 // ../lib/src/plugins/car-inertial-position/utils.js
-import { Vector2 as Vector218 } from "three";
+import { Vector2 as Vector220 } from "three";
 function linearFit(points) {
   const n = points.length;
   let sumX = 0, sumY = 0, sumXY = 0, sumX2 = 0;
@@ -12847,7 +12875,7 @@ function calculateLineDirection(points) {
   }
   const { m, b } = linearFit(filteredPoints);
   const { start, end } = getLineEndpoints(m, b, filteredPoints);
-  const radians = new Vector218().subVectors(new Vector218(end[0], end[1]), new Vector218(start[0], start[1])).angle();
+  const radians = new Vector220().subVectors(new Vector220(end[0], end[1]), new Vector220(start[0], start[1])).angle();
   const angle = 360 - (radians / Math.PI * 180 - 90 + 360) % 360;
   if (Number.isNaN(angle)) {
     return null;
@@ -12876,11 +12904,11 @@ function calculateInstantaneousSpeed(positions) {
 function predictFutureSpeed(positions, timeIntervalMs) {
   const first = positions[0];
   const last = positions.slice(-1)[0];
-  const distance = positions.slice(1).reduce((sum, cur, index) => {
-    const l = getLength(cur.position, positions[index].position);
-    return sum + l;
-  }, 0);
+  const distance = getLength(last.position, first.position);
   const time = last.time - first.time;
+  if (time < 100 || distance < 3) {
+    return null;
+  }
   return distance / time;
 }
 function transformSpeed(speed) {
@@ -12889,11 +12917,11 @@ function transformSpeed(speed) {
 function predictFuturePosition(lastPosition, speed, angle, time) {
   const angleInRadians = (angle + 90) % 360 * (Math.PI / 180);
   const distance = speed * time;
-  const vec = new Vector218(lastPosition[0], lastPosition[1]);
+  const vec = new Vector220(lastPosition[0], lastPosition[1]);
   const vX = Math.cos(angleInRadians);
   const vY = Math.sin(angleInRadians);
-  const dir = new Vector218(vX, vY);
-  vec.add(dir.normalize().multiplyScalar(distance + 2));
+  const dir = new Vector220(vX, vY);
+  vec.add(dir.normalize().multiplyScalar(distance));
   return [
     vec.x,
     vec.y
@@ -12923,189 +12951,267 @@ function percentile(arr, p) {
   return arr[lower] * (1 - weight) + arr[upper] * weight;
 }
 
-// ../lib/src/plugins/car-inertial-position/compass.js
-var Compass = class extends EventDispatcher19 {
-  start() {
-    this.listenDeviceOrientation();
+// ../lib/src/plugins/car-inertial-position/kalman-filter.js
+var KalmanFilter = class {
+  // 核心滤波方法
+  filter(measurement) {
+    const prediction = this.estimate;
+    const predictionError = this.errorEstimate + this.processNoise;
+    const kalmanGain = predictionError / (predictionError + this.measurementNoise);
+    this.estimate = prediction + kalmanGain * (measurement - prediction);
+    this.errorEstimate = (1 - kalmanGain) * predictionError;
+    return this.estimate;
+  }
+  constructor(options = {}) {
+    this.estimate = 0;
+    this.errorEstimate = 1;
+    this.processNoise = 0.1;
+    this.measurementNoise = 1;
+    this.measurementNoise = options.measurementNoise || 1;
+    this.processNoise = options.processNoise || 0.1;
+    this.errorEstimate = options.errorEstimate || 1;
+  }
+};
+
+// ../lib/src/plugins/car-inertial-position/car-inertial-position.js
+import { isNil as isNil5 } from "lodash";
+var CarInertialPosition = class extends EventDispatcher19 {
+  setPathAngle(angle) {
+    this.pathAngle = angle;
     this.dispatchEvent({
-      type: "start"
+      type: "change-compass",
+      value: this.pathAngle
     });
-  }
-  /**
-  * 设置一个根据视觉定位返回的绝对角度 校准delta
-  * @param compass
-  * @param time
-  */
-  setAbsoluteCompass(compass, time) {
-    if (!this.delta) {
-      this.emitCompass(compass);
+    if (isNil5(this.angle)) {
+      this.angle = angle;
     }
-    if (!this.compassData.length) {
-      return;
-    }
-    this.absoluteCompass = {
-      compass,
-      time
-    };
-    let cutTimeCompassIndex = this.compassData.findIndex((item) => item.timestamp >= time);
-    if (cutTimeCompassIndex === -1) {
-      cutTimeCompassIndex = this.compassData.length - 1;
-    }
-    const prevCompass = this.compassData[cutTimeCompassIndex - 1];
-    const nextCompass = this.compassData[cutTimeCompassIndex];
-    let curCompass;
-    if (!prevCompass) {
-      curCompass = nextCompass;
-    } else if (!nextCompass) {
+  }
+  changeSpeed() {
+    const serverHistory = this.history.filter((item) => [
+      "vision"
+    ].includes(item.type));
+    if (serverHistory.length < 2) {
+      this.speedFilter.filter(0);
+      this.speed = 0;
       return;
-    } else {
-      curCompass = nextCompass.timestamp - time > prevCompass.timestamp - time ? prevCompass : nextCompass;
     }
-    const delta = compass - curCompass.res;
-    this.deltas.push(delta);
-    const deltas = removeOutliers(this.deltas);
-    if (deltas.length) {
-      this.delta = deltas.reduce((sum, cur) => sum + cur, 0) / deltas.length;
+    ;
+    const first = serverHistory[0];
+    const last = serverHistory.slice(-1)[0];
+    const distance = getLength(last.position, first.position);
+    const time = last.time - first.time;
+    const speed = time > 0 ? distance / time : 0;
+    const smoothedSpeed = this.speedFilter.filter(speed);
+    this.speed = smoothedSpeed;
+  }
+  changeAngle(histories = this.visionHistory) {
+    if (histories.length < 2) {
+      this.angle = null;
+    }
+    ;
+    const angle = calculateLineDirection(histories.map((item) => item.position));
+    if (angle !== null) {
+      this.setAngle(angle);
     }
   }
-  emitCompass(compass) {
-    console.log("compass delta", this.delta, compass);
-    this.dispatchEvent({
-      type: "compass",
-      value: (compass + this.delta + 360) % 360
-    });
+  setAngle(angle, dispatch = true) {
+    this.angle = angle;
+    if (dispatch) {
+      this.dispatchEvent({
+        type: "change-position-compass",
+        value: angle
+      });
+    }
   }
   /**
-  * 获取 compass 和 deviceMotion
+  * 添加视觉结果
+  * @param position 
+  * @param time 
+  * @param duration 
+  * @returns 
   */
-  listenDeviceOrientation() {
-    if (isIphone) {
-      window.addEventListener("deviceorientation", this.deviceOrientationAbsHandler, false);
-    } else {
-      window.addEventListener("deviceorientationabsolute", this.deviceOrientationAbsHandler, {
-        absolute: true
-      });
+  setPosition(position, time, duration) {
+    const item = {
+      position,
+      time,
+      clientTime: Date.now() - duration,
+      type: "vision"
+    };
+    this._setVisionHistoryForAngle(item);
+    if (isNil5(this.angle) || !this.speed) {
+      this.addHistory(item);
+      return;
     }
-  }
-  checkSensor() {
-    var _this = this;
-    return _async_to_generator(function* () {
-      const deviceOrientation = yield _this.checkDeviceOrientation();
-      return {
-        deviceOrientation
-      };
-    })();
-  }
-  checkDeviceOrientation() {
-    return _async_to_generator(function* () {
-      var _window_DeviceOrientationEvent;
-      if (!isIphone) {
-        return true;
+    const lastIndex = this.history.findLastIndex((item2) => item2.type === "vision");
+    const last = this.history[lastIndex];
+    if (last) {
+      if (last.time > time) {
+        return;
       }
-      if (typeof window.DeviceOrientationEvent !== "undefined" && typeof ((_window_DeviceOrientationEvent = window.DeviceOrientationEvent) == null ? void 0 : _window_DeviceOrientationEvent.requestPermission) === "function") {
-        try {
-          var _window_DeviceOrientationEvent1;
-          const permission = yield (_window_DeviceOrientationEvent1 = window.DeviceOrientationEvent) == null ? void 0 : _window_DeviceOrientationEvent1.requestPermission();
-          return permission === "granted";
-        } catch (e) {
-          return false;
-        }
+      const angle = calculateLineDirection([
+        this.history.slice(-1)[0].position,
+        position
+      ]);
+      if (angle && Math.abs(angle - this.angle) < 60) {
+        this.addHistory(item);
+        return;
+      }
+      const predictPos = predictFuturePosition(position, this.speed, 360 - this.pathAngle, duration);
+      const distance = getLength(predictPos, this.history.slice(-1)[0].position);
+      if (distance > 10) {
+        this.visionExcessesCount++;
+      } else {
+        this.visionExcessesCount = 0;
+      }
+      if (this.visionExcessesCount > 3) {
+        console.warn("\u8FDE\u7EED\u4E09\u6B21\u89C6\u89C9\u548Cpdr\u5DEE\u8DDD\u5927\u4E8E5\u7C73\uFF0C\u4F7F\u7528\u89C6\u89C9\u6821\u51C6");
+        this.addHistory(item);
+        this.visionExcessesCount = 0;
       }
-      return false;
-    })();
-  }
-  stop() {
-    if (isIphone) {
-      window.removeEventListener("deviceorientation", this.deviceOrientationAbsHandler, false);
-    } else {
-      window.removeEventListener("deviceorientationabsolute", this.deviceOrientationAbsHandler, {
-        absolute: true
-      });
     }
-    this.compassData = [];
-    this.dispatchEvent({
-      type: "stop"
-    });
   }
-  constructor() {
-    super(), this.compassData = [], this.absoluteCompass = null, this.delta = 0, this.deltas = [], this.deviceOrientationAbsHandler = (e) => {
-      const currTime = Date.now();
-      const { alpha, beta, gamma } = e;
-      if (isNil5(alpha) || isNil5(beta) || isNil5(gamma)) {
-        return;
+  resetPdrPosition() {
+    const lastVision = this.history.findLast((item) => item.type === "vision");
+    if (lastVision && this.speed) {
+      const predictPos = predictFuturePosition(lastVision.position, this.speed, 360 - this.pathAngle, Date.now() - lastVision.clientTime);
+      if (predictPos) {
+        this.history.push({
+          position: predictPos,
+          time: Date.now(),
+          clientTime: Date.now(),
+          type: "pdr"
+        });
       }
-      const compass = isIphone ? e.webkitCompassHeading : 360 - alpha;
-      this.compassData.push({
-        timestamp: currTime,
-        res: compass
-      });
-      this.emitCompass(compass);
-    };
+    }
   }
-};
-
-// ../lib/src/plugins/car-inertial-position/car-inertial-position.js
-var CarInertialPosition = class extends EventDispatcher20 {
-  startCompass() {
-    this.compass.start();
+  /**
+  * 获取 最后一个视觉坐标在加了pdr惯性的坐标
+  */
+  getLastVisionPdrPos() {
+    const lastIndex = this.history.findLastIndex((item) => item.type === "vision");
+    if (lastIndex !== -1) {
+      var _this_history_;
+      return (_this_history_ = this.history[lastIndex + 1]) != null ? _this_history_ : this.history[lastIndex];
+    }
+    return null;
   }
-  setPosition(position, time, duration) {
-    this.history.push({
-      position,
-      time,
-      clientTime: Date.now(),
-      type: "vision"
-    });
-    const MAX_DISTANCE = 5;
-    for (let i = 0; i < this.history.length; i++) {
-      const item = this.history[i];
-      const distance = getLength(item.position, position);
-      if (distance > MAX_DISTANCE) {
-        this.history.shift();
-        i--;
+  _setVisionHistoryForAngle(history) {
+    if (!this.visionHistory.length) {
+      this.visionHistory.push(history);
+      return;
+    }
+    const angle = calculateLineDirection([
+      this.visionHistory.slice(-1)[0].position,
+      history.position
+    ]);
+    if (angle !== null) {
+      if (this.angle && Math.abs(this.angle - angle) > 60) {
+        this.angleExcessesCount++;
       } else {
-        break;
+        this.angleExcessesCount = 0;
+        this.visionHistory.push(history);
       }
     }
-    const posInfo = this.getPosition("vision");
-    this.dispatchEvent({
-      type: "change-pos",
-      value: posInfo
-    });
-    this.startPositionTimer();
-  }
-  setBeaconPosition(position, time) {
-    this.history.push({
+    if (this.angleExcessesCount > 3) {
+      console.warn("\u8FDE\u7EED\u4E09\u6B21\u89D2\u5EA6\u6BD4\u8F83\u6B6A\uFF0C\u91CD\u65B0\u77EB\u6B63");
+      this.visionHistory = [
+        history
+      ];
+      this.angleExcessesCount = 0;
+    } else {
+      let distance = getLength(this.visionHistory[0].position, this.visionHistory.slice(-1)[0].position);
+      while (distance > 5 && this.visionHistory.length > 15) {
+        this.visionHistory.shift();
+        distance = getLength(this.visionHistory[0].position, this.visionHistory.slice(-1)[0].position);
+      }
+    }
+    this.changeAngle();
+  }
+  addHistory(data) {
+    this.history.push(data);
+    let visionHistory = this.history.filter((item) => item.type === "vision");
+    const lastVisionTimeDelta = visionHistory.length ? Date.now() - visionHistory.slice(-1)[0].clientTime : 0;
+    let maxDistance = getLength(this.history[0].position, this.history.slice(-1)[0].position);
+    const MAX_DISTANCE = lastVisionTimeDelta > 5e3 ? 10 : 3;
+    const MIN_POSITION_HISTORY = lastVisionTimeDelta > 5e3 ? 0 : 5;
+    if (lastVisionTimeDelta > 5e3) {
+      console.warn("\u89C6\u89C9\u7ED3\u679C\u8D85\u51FA5s\u4E0D\u53EF\u7528\uFF0C\u5168\u90E8\u6E05\u7A7A");
+    }
+    while (visionHistory.length > MIN_POSITION_HISTORY && maxDistance > MAX_DISTANCE) {
+      this.history.shift();
+      visionHistory = this.history.filter((item) => item.type === "vision");
+      maxDistance = getLength(this.history[0].position, this.history.slice(-1)[0].position);
+    }
+    if (MIN_POSITION_HISTORY === 0) {
+      this.changeSpeed();
+    } else if (data.type === "vision") {
+      this.changeSpeed();
+    }
+    this.changePosition(data.type);
+  }
+  setBeaconPosition(position, time, duration) {
+    const clientTime = Date.now() - duration;
+    const item = {
       position,
       time,
-      clientTime: Date.now(),
+      clientTime,
       type: "beacon"
-    });
-    const posInfo = this.getPosition("beacon");
-    this.dispatchEvent({
-      type: "change-pos",
-      value: posInfo
-    });
-    this.startPositionTimer();
+    };
+    const lastServerIndex = this.history.findLastIndex((item2) => item2.type !== "pdr");
+    const lastServerItem = this.history[lastServerIndex];
+    if (!lastServerItem) {
+      this.addHistory(item);
+      return;
+    }
+    if (isNil5(this.pathAngle) || !this.speed) {
+      this.addHistory(item);
+      return;
+    }
+    if (lastServerItem && lastServerItem.time > time) {
+      return;
+    }
+    const predictPos = predictFuturePosition(position, this.speed, 360 - this.pathAngle, duration);
+    const distance = getLength(predictPos, this.history.slice(-1)[0].position);
+    if (distance > 5) {
+      this.beaconExcessesCount++;
+    } else {
+      this.beaconExcessesCount = 0;
+    }
+    if (this.beaconExcessesCount > 3) {
+      console.warn("\u8FDE\u7EED\u4E09\u6B21beacon\u548Cpdr\u5DEE\u8DDD\u5927\u4E8E5\u7C73\uFF0C\u4F7F\u7528beacon\u6821\u51C6");
+      this.addHistory(item);
+      this.beaconExcessesCount = 0;
+    }
   }
   startPositionTimer() {
     if (this.positionTimer) {
       this.timer.clearInterval(this.positionTimer);
     }
-    if (this.autoCleanTimer) {
-      this.timer.clearTimeout(this.autoCleanTimer);
-    }
     this.positionTimer = this.timer.setInterval(() => {
-      const posInfo = this.getPosition("pdr");
-      this.dispatchEvent({
-        type: "change-pos",
-        value: posInfo
-      });
+      this.changePosition();
     }, 20);
-    this.autoCleanTimer = this.timer.setTimeout(() => {
-      this.positionTimer && this.timer.clearInterval(this.positionTimer);
-      this.positionTimer = null;
-    }, 1e3);
+  }
+  changePosition(from = "pdr") {
+    const posInfo = this.getPosition(from);
+    if (posInfo.success) {
+      this.history.push({
+        position: posInfo.pos,
+        time: Date.now(),
+        clientTime: Date.now(),
+        type: "pdr"
+      });
+      if (this.speed) {
+        this.dispatchEvent({
+          type: "change-pos",
+          value: _extends({}, posInfo)
+        });
+      } else {
+        this.dispatchEvent({
+          type: "change-pos",
+          value: posInfo
+        });
+      }
+    }
   }
   getPosition(from) {
     if (this.history.length === 0) {
@@ -13124,36 +13230,34 @@ var CarInertialPosition = class extends EventDispatcher20 {
       return {
         success: true,
         pos: lastHistory.position,
-        compass: null,
-        speed: 0
+        compass: this.pathAngle,
+        speed: this.speed
       };
     }
-    const visionHistory = this.history.filter((item) => item.type === "vision");
-    const angle = calculateLineDirection(visionHistory.map((history) => history.position));
-    if (angle !== null) {
-      this.compassAngle = angle;
-      this.dispatchEvent({
-        type: "change-compass",
-        value: angle
-      });
+    if (isNil5(this.pathAngle) || !this.speed) {
+      return {
+        success: true,
+        pos: lastHistory.position,
+        compass: this.pathAngle,
+        speed: this.speed
+      };
     }
     const lastTime = lastHistory.clientTime;
     const deltaTime = Date.now() - lastTime;
-    const speed = predictFutureSpeed(this.history, deltaTime);
-    const pos = this.compassAngle ? predictFuturePosition(lastHistory.position, speed, 360 - this.compassAngle, deltaTime) : lastHistory.position;
+    const pos = this.pathAngle ? predictFuturePosition(lastHistory.position, this.speed, 360 - this.pathAngle, deltaTime) : lastHistory.position;
     return {
       success: true,
       pos,
-      compass: this.compassAngle,
-      speed: transformSpeed(speed)
+      compass: this.pathAngle,
+      speed: transformSpeed(this.speed)
     };
   }
   dispose() {
-    this.compass.stop();
     this.timer.dispose();
   }
   constructor() {
-    super(), this.history = [], this.compass = new Compass(), this.compassAngle = 0, this.timer = new Timer(), this.positionTimer = null, this.autoCleanTimer = null;
+    super(), this.history = [], this.visionHistory = [], this.speed = 0, this.angle = null, this.timer = new Timer(), this.positionTimer = null, this.speedFilter = new KalmanFilter(), this.visionExcessesCount = 0, this.beaconExcessesCount = 0, this.angleExcessesCount = 0, this.pathAngle = 0;
+    this.startPositionTimer();
   }
 };
 
@@ -13324,7 +13428,7 @@ function closeDb(db = _db) {
 }
 
 // ../lib/src/loader/AibeeLoader/index.js
-import { Vector3 as Vector326, EventDispatcher as EventDispatcher21 } from "three";
+import { Vector3 as Vector326, EventDispatcher as EventDispatcher20 } from "three";
 
 // ../lib/src/loader/AibeeLoader/layer.js
 function transformLayers(layer, floor) {
@@ -13613,7 +13717,7 @@ var FacilityVersionStoreName = "facility_version";
 var MapDataStoreName = "map_data";
 var RoadNetworkDataStoreName = "road_network_data";
 var FacilityDataStoreName = "facility_data";
-var AibeeLoader = class extends EventDispatcher21 {
+var AibeeLoader = class extends EventDispatcher20 {
   initDb() {
     var _this = this;
     return _async_to_generator(function* () {