diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
index c6c6374cbd..274f62d862 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
@@ -380,17 +380,32 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
      * 展示人工驾驶地图导航
      */
     protected void showAmapNaviToStationFragment(boolean isShow) {
+        FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
         if (isShow) {
-            FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
-            mOchAmapNaviFragment = SweeperAmapNaviFragment.newInstance();
-            if (mOchAmapNaviFragment.isAdded()) {
+            mGroupNaviPanel.setVisibility(View.VISIBLE);
+            if (mOchAmapNaviFragment == null) {
+                mOchAmapNaviFragment=SweeperAmapNaviFragment.newInstance();
+            }
+            if (mOchAmapNaviFragment.isHidden()) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                        .show(mOchAmapNaviFragment).commitAllowingStateLoss();
                 return;
             }
-            transaction.add(R.id.module_mogo_och_navi_panel_container, mOchAmapNaviFragment).show(mOchAmapNaviFragment);
-            transaction.commitAllowingStateLoss();
-            mGroupNaviPanel.setVisibility(View.VISIBLE);
+            if (mOchAmapNaviFragment.isAdded()) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                        .show(mOchAmapNaviFragment).commitAllowingStateLoss();
+                return;
+            }
+            transaction
+                    .setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                    .add(R.id.module_mogo_och_navi_panel_container, mOchAmapNaviFragment)
+                    .show(mOchAmapNaviFragment).commitAllowingStateLoss();
         } else {
             AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
+            if (mOchAmapNaviFragment != null) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_CLOSE)
+                        .hide(mOchAmapNaviFragment).commitAllowingStateLoss();
+            }
             mGroupNaviPanel.setVisibility(View.GONE);
         }
     }
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperAmapNaviFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperAmapNaviFragment.java
index 00b26c29b9..a1460e31c7 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperAmapNaviFragment.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperAmapNaviFragment.java
@@ -60,6 +60,19 @@ public class SweeperAmapNaviFragment extends BaseSweeperUIFragment implements AM
         mAMapNaviView.onPause();
     }
 
+    @Override
+    public void onHiddenChanged(boolean hidden) {
+        super.onHiddenChanged(hidden);
+        if (hidden) {  //不在最前端界面显示
+            if (mAMapNaviView != null){
+                mAMapNaviView.onPause();
+            }
+        } else {  //重新显示到最前端
+            if (mAMapNaviView != null){
+                mAMapNaviView.onResume();
+            }
+        }
+    }
     @Override
     public void onDestroy() {
         super.onDestroy();
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
index 20faa41b73..facfdaf0f7 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
@@ -421,7 +421,6 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             endConfirmDialog?.setClickListener(object : SweeperManualDrivingDialog.ClickListener {
                 override fun confirm() {
                     presenter?.startTask(isFirstSubTask(), isLastSubTask(), taskId, mSubTaskType, taskStatus)
-                    showAmapNaviToStationFragment(true)
                     val startPoint =
                         CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), startWgs84Lon, startWgs84Lat)
                     val endPoint = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(AbsMogoApplication.getApp(), endWgs84Lon, endWgs84Lat)
@@ -432,7 +431,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                         endPoint.latitude,
                         endPoint.longitude
                     )
-
+                    showAmapNaviToStationFragment(true)
                 }
             })
             endConfirmDialog?.show()
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
index 5182e28a36..12b9f07723 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
@@ -28,7 +28,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListener
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
-import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManager;
 import com.mogo.och.common.module.biz.common.socketmessage.data.OCHOperationalMessage;
@@ -192,7 +191,7 @@ public class SweeperTaskModel {
 
         @Override
         public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
-            if (null != routeList && routeList.getWayPointsList().size() > 0) {
+            if (null != routeList && routeList.getWayPointsList()!=null&&routeList.getWayPointsList().size() > 0) {
                 if (mCurrentSubTaskDetail.getLineId() != mLineId) {//判断是否同一条路线
                     mLineId = mCurrentSubTaskDetail.getLineId();
                     points.addAll(coordinateConverterWgsToGcjList(mContext, routeList.getWayPointsList()));
@@ -311,8 +310,6 @@ public class SweeperTaskModel {
             + ", mLatitude=" + gnssInfo.getLatitude() + ", mSubTaskType=" + mSubTaskType +", mIsSubTaskWorking=" + mIsSubTaskWorking
                     + ", isAutopilotSubTaskArriveEndSite=" + isAutopilotSubTaskArriveEndSite
             );
-            mLongitude = gnssInfo.getLongitude();
-            mLatitude = gnssInfo.getLatitude();
             if (mControllerStatusCallback != null) {
                 mControllerStatusCallback.onCarLocationChanged(gnssInfo);
             }
@@ -335,12 +332,10 @@ public class SweeperTaskModel {
     private void addCoordinates(MogoLocation mogoLatLng) {
         String tempLongitude = NumberFormatUtil.cutOutNumber(mogoLatLng.getLongitude(), 5);
         String tempLatitude = NumberFormatUtil.cutOutNumber(mogoLatLng.getLatitude(), 5);
-
-        String latitude = NumberFormatUtil.cutOutNumber(points.get(points.size()-1).latitude, 5);
-        String longitude = NumberFormatUtil.cutOutNumber(points.get(points.size()-1).longitude, 5);
-
         //用于过滤车是否停在原地，经纬度相同的情况
-        if (!tempLongitude.equals(longitude) && !tempLatitude.equals(latitude)) {
+        if (!tempLongitude.equals(mLongitude) && !tempLatitude.equals(mLatitude)) {
+            mLongitude = mogoLatLng.getLongitude();
+            mLatitude = mogoLatLng.getLatitude();
             SweeperRoutePlanningUpdateReqBean.Result result = new SweeperRoutePlanningUpdateReqBean.Result();
             result.latitude = mogoLatLng.getLatitude();
             result.longitude = mogoLatLng.getLongitude();
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/ISweeperApiService.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/ISweeperApiService.java
index efb9a3f2be..5522f00dae 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/ISweeperApiService.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/ISweeperApiService.java
@@ -12,7 +12,6 @@ import java.util.Map;
 import io.reactivex.Observable;
 import retrofit2.http.Body;
 import retrofit2.http.GET;
-import retrofit2.http.HTTP;
 import retrofit2.http.Header;
 import retrofit2.http.Headers;
 import retrofit2.http.POST;
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/SweeperServiceManager.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/SweeperServiceManager.kt
index 55be15bb32..47b5f6d498 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/SweeperServiceManager.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/net/SweeperServiceManager.kt
@@ -24,15 +24,15 @@ object SweeperServiceManager {
      */
     @JvmStatic
     fun getCurrentTask(context: Context, callback: OchCommonServiceCallback<BaseResponse<SweeperSubTaskBean>>?) {
-        val map= hashMapOf<String,String>()
-        map["serviceAppId"] =  MoGoAiCloudClientConfig.getInstance().serviceAppId
-        map["token"] =  MoGoAiCloudClientConfig.getInstance().token
-        map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+        val map = hashMapOf<String, String>()
+        map["serviceAppId"] = getServiceAppId()
+        map["token"] = getToken()
+        map["sn"] = getCarSN()
         d(SceneConstant.M_SWEEPER + TAG, "getCurrentTask：" + GsonUtil.jsonFromObject(map))
         mService.getCurrentTask(
-            MoGoAiCloudClientConfig.getInstance().serviceAppId,
-            MoGoAiCloudClientConfig.getInstance().token,
-            MoGoAiCloudClientConfig.getInstance().sn
+            getServiceAppId(),
+            getToken(),
+            getCarSN()
         )
             .transformTry()
             .subscribe(OchCommonSubscribeImpl(context, callback, "getCurrentTask"))
@@ -43,31 +43,32 @@ object SweeperServiceManager {
      */
     @JvmStatic
     fun getMainTaskList(context: Context, callback: OchCommonServiceCallback<BaseResponse<MutableList<SweeperMainTaskBean>>>?) {
-        val map= hashMapOf<String,String>()
-        map["serviceAppId"] =  MoGoAiCloudClientConfig.getInstance().serviceAppId
-        map["token"] =  MoGoAiCloudClientConfig.getInstance().token
-        map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+        val map = hashMapOf<String, String>()
+        map["serviceAppId"] = getServiceAppId()
+        map["token"] = getToken()
+        map["sn"] = getCarSN()
         d(SceneConstant.M_SWEEPER + TAG, "getMainTaskList：" + GsonUtil.jsonFromObject(map))
         mService.getMainTaskList(
-            MoGoAiCloudClientConfig.getInstance().serviceAppId,
-            MoGoAiCloudClientConfig.getInstance().token,
-            MoGoAiCloudClientConfig.getInstance().sn
+            getServiceAppId(),
+            getToken(),
+            getCarSN()
         )
             .transformTry()
             .subscribe(OchCommonSubscribeImpl(context, callback, "getMainTaskList"))
     }
+
     /**
      * 获取子任务列表
      */
     @JvmStatic
     fun getSubTaskList(taskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<MutableList<SubInfo>>>?) {
-        val map= hashMapOf<String,String>()
-        map["carSn"] = MoGoAiCloudClientConfig.getInstance().sn
+        val map = hashMapOf<String, String>()
+        map["carSn"] = getCarSN()
         map["taskId"] = taskId.toString()
         d(SceneConstant.M_SWEEPER + TAG, "getSubTaskList：" + GsonUtil.jsonFromObject(map))
         mService.getSubTaskList(
-            MoGoAiCloudClientConfig.getInstance().serviceAppId,
-            MoGoAiCloudClientConfig.getInstance().token,
+            getServiceAppId(),
+            getToken(),
             map
         )
             .transformTry()
@@ -79,13 +80,13 @@ object SweeperServiceManager {
      */
     @JvmStatic
     fun getSubTaskDetail(subTaskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<SweeperSubTaskDetailBean>>?) {
-        val map= hashMapOf<String,String>()
-        map["carSn"] = MoGoAiCloudClientConfig.getInstance().sn
+        val map = hashMapOf<String, String>()
+        map["carSn"] = getCarSN()
         map["taskId"] = subTaskId.toString()
         d(SceneConstant.M_SWEEPER + TAG, "getSubTaskDetail：" + GsonUtil.jsonFromObject(map))
         mService.getSubTaskDetail(
-            MoGoAiCloudClientConfig.getInstance().serviceAppId,
-            MoGoAiCloudClientConfig.getInstance().token,
+            getServiceAppId(),
+            getToken(),
             map
         )
             .transformTry()
@@ -96,12 +97,12 @@ object SweeperServiceManager {
      * 子任务开始上报
      */
     @JvmStatic
-    fun subTaskStart(isFirst:Boolean,isEnd:Boolean,subTaskId: Int,context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
-        val subStartRequest = SubStartRequest(MoGoAiCloudClientConfig.getInstance().sn, subTaskId, System.currentTimeMillis(),isFirst,isEnd)
+    fun subTaskStart(isFirst: Boolean, isEnd: Boolean, subTaskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
+        val subStartRequest = SubStartRequest(getCarSN(), subTaskId, System.currentTimeMillis(), isFirst, isEnd)
         d(SceneConstant.M_SWEEPER + TAG, "subTaskStart：" + GsonUtil.jsonFromObject(subStartRequest))
         mService.subTaskStart(
-            MoGoAiCloudClientConfig.getInstance().serviceAppId,
-            MoGoAiCloudClientConfig.getInstance().token,
+            getServiceAppId(),
+            getToken(),
             subStartRequest
         )
             .transformTry()
@@ -112,12 +113,12 @@ object SweeperServiceManager {
      * 子任务结束上报
      */
     @JvmStatic
-    fun subTaskEnd(isFirst:Boolean,isEnd:Boolean,subTaskId: Int,context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
-        val subStartRequest = SubStartRequest(MoGoAiCloudClientConfig.getInstance().sn, subTaskId, System.currentTimeMillis(),isFirst,isEnd)
+    fun subTaskEnd(isFirst: Boolean, isEnd: Boolean, subTaskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
+        val subStartRequest = SubStartRequest(getCarSN(), subTaskId, System.currentTimeMillis(), isFirst, isEnd)
         d(SceneConstant.M_SWEEPER + TAG, "subTaskEnd：" + GsonUtil.jsonFromObject(subStartRequest))
         mService.subTaskEnd(
-            MoGoAiCloudClientConfig.getInstance().serviceAppId,
-            MoGoAiCloudClientConfig.getInstance().token,
+            getServiceAppId(),
+            getToken(),
             subStartRequest
         )
             .transformTry()
@@ -128,12 +129,12 @@ object SweeperServiceManager {
      * 子任务跳过上报
      */
     @JvmStatic
-    fun subTaskSkip(isFirst:Boolean,isEnd:Boolean,subTaskId: Int,context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
-        val subStartRequest = SubStartRequest(MoGoAiCloudClientConfig.getInstance().sn, subTaskId, System.currentTimeMillis(),isFirst,isEnd)
+    fun subTaskSkip(isFirst: Boolean, isEnd: Boolean, subTaskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
+        val subStartRequest = SubStartRequest(getCarSN(), subTaskId, System.currentTimeMillis(), isFirst, isEnd)
         d(SceneConstant.M_SWEEPER + TAG, "subTaskSkip：" + GsonUtil.jsonFromObject(subStartRequest))
         mService.subTaskSkip(
-            MoGoAiCloudClientConfig.getInstance().serviceAppId,
-            MoGoAiCloudClientConfig.getInstance().token,
+            getServiceAppId(),
+            getToken(),
             subStartRequest
         )
             .transformTry()
@@ -144,17 +145,29 @@ object SweeperServiceManager {
      * 主任务重置
      */
     @JvmStatic
-    fun mainTaskReset(taskId: Int,context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
-        val map= hashMapOf<String,String>()
-        map["carSn"] = MoGoAiCloudClientConfig.getInstance().sn
+    fun mainTaskReset(taskId: Int, context: Context, callback: OchCommonServiceCallback<BaseResponse<Boolean>>?) {
+        val map = hashMapOf<String, String>()
+        map["carSn"] = getCarSN()
         map["taskId"] = taskId.toString()
         d(SceneConstant.M_SWEEPER + TAG, "mainTaskReset：" + GsonUtil.jsonFromObject(map))
         mService.mainTaskReset(
-            MoGoAiCloudClientConfig.getInstance().serviceAppId,
-            MoGoAiCloudClientConfig.getInstance().token,
+            getServiceAppId(),
+            getToken(),
             map
         )
             .transformTry()
             .subscribe(OchCommonSubscribeImpl(context, callback, "mainTaskReset"))
     }
+
+    private fun getCarSN(): String {
+        return MoGoAiCloudClientConfig.getInstance().sn
+    }
+
+    private fun getServiceAppId(): String {
+        return MoGoAiCloudClientConfig.getInstance().serviceAppId
+    }
+
+    private fun getToken(): String {
+        return MoGoAiCloudClientConfig.getInstance().token
+    }
 }
\ No newline at end of file