diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java
index 7e63c599e8..f56a931402 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java
@@ -12,6 +12,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.MogoMarkerManager;
 import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.utils.DrivingDirectionUtils;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -90,7 +91,7 @@ public class IdentifyDataDrawer {
         long start = System.currentTimeMillis();
         //清除缓存
         for (MessagePad.TrackedObject data : resultList) {
-            if(trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())){
+            if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
                 trafficDataUuidList.remove("" + data.getUuid());
             }
         }
@@ -134,13 +135,20 @@ public class IdentifyDataDrawer {
             //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
             MessagePad.TrackedObject cacheData = mMarkersCaches.get("" + data.getUuid());
             if (cacheData != null) {
-                //todo 测试航向角修正时打开
                 MessagePad.TrackedObject correctData = null;
-                //todo 判断点是不是在当前车道线上，如果是，判断差值，进行修正
-//                if (Math.abs(cacheData.getHeading() - data.getHeading()) > 90) {
-//                    CallerLogger.INSTANCE.d(M_HMI + "arrow47","uuid修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
-//                    correctData = data.toBuilder().setHeading(cacheData.getHeading()).build();
-//                }
+                //todo 进行修正
+                if (Math.abs(cacheData.getHeading() - data.getHeading()) > 40 && Math.abs(cacheData.getHeading() - data.getHeading()) < 90) {
+                    CallerLogger.INSTANCE.d(M_HMI + "arrow47", "uuid: " + data.getUuid() + " , 40~90差值范围 , 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
+                }
+                if (Math.abs(cacheData.getHeading() - data.getHeading()) > 90) {
+                    int degree = DrivingDirectionUtils.getDegreeOfCar2Poi(cacheData.getLongitude(), cacheData.getLatitude(), data.getLongitude(), data.getLatitude(), Double.valueOf(cacheData.getHeading()).intValue());
+                    if (degree > 90) {
+                        CallerLogger.INSTANCE.d(M_HMI + "arrow47", "uuid: " + data.getUuid() + " , 夹角 : " + degree + " , 修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
+                        correctData = data.toBuilder().setHeading(cacheData.getHeading()).build();
+                    } else {
+                        CallerLogger.INSTANCE.d(M_HMI + "arrow47", "uuid: " + data.getUuid() + " , 夹角 : " + degree + " , 未修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
+                    }
+                }
                 if (correctData != null) {
                     mFilterTrafficData.add(correctData);
                     //更新已存在的感知物体数据
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java
index 85bd82d6fc..a5f40d4a71 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java
@@ -8,12 +8,12 @@ import android.content.Context;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.MogoMap;
 import com.mogo.map.MogoMarkerManager;
 import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.constants.AdasRecognizedType;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -120,7 +120,12 @@ public class IdentifyDataDrawerTest {
                 //CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
                 continue;
             }
-            double heading = kalmanFilter(data);
+
+            MessagePad.TrackedObject cacheData = mMarkersCaches.get("" + data.getUuid());
+            double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheData.getLongitude(), cacheData.getLatitude(), data.getLongitude(), data.getLatitude());
+            CallerLogger.INSTANCE.d(M_HMI + "arrow47", " uuid : " +  data.getUuid() + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + "  ---- " + (data.getHeading() - heading));
+
+//            double heading = kalmanFilter(data);
             MessagePad.TrackedObject correctData = data.toBuilder().setHeading(heading).build();
             mFilterTrafficData.add(correctData);
             //更新已存在的感知物体数据
@@ -142,9 +147,13 @@ public class IdentifyDataDrawerTest {
             assert cacheTrackObj != null;
             double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheTrackObj.getLongitude(), cacheTrackObj.getLatitude(), lonLat[0], lonLat[1]);
             CallerLogger.INSTANCE.d(M_HMI + "arrow47", " uuid : " + uuid + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + "  ---- " + (data.getHeading() - heading));
-            return Math.abs((data.getHeading() - heading)) >= 180 ? heading : data.getHeading();
+            return  heading;
         } else {
-            algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.00005));
+            double r = 0.00005;
+            if (AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficBus || AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficTruck) {
+                r = 0.0001;
+            }
+            algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), r));
             return data.getHeading();
         }
     }
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
index 662e3c6136..5eb0df67c8 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
@@ -41,9 +41,9 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber, IMoGoAutopi
     override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
         try {
             if (FunctionBuildConfig.isDrawIdentifyData) {
-                ThreadUtils.getSinglePool().execute { IdentifyDataDrawerTest.getInstance().renderAdasRecognizedResult(trafficData) }
+                ThreadUtils.getSinglePool().execute { IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData) }
             } else {
-                IdentifyDataDrawerTest.getInstance().clearOldMarker()
+                IdentifyDataDrawer.getInstance().clearOldMarker()
             }
         } catch (e: Exception) {
             e.printStackTrace()