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 24f86f7a47..ae41c26d3e 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
@@ -9,12 +9,10 @@ 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.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 com.mogo.module.common.utils.DrivingDirectionUtils;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -40,10 +38,6 @@ public class IdentifyDataDrawer {
 
     private static final ConcurrentHashMap<String, KalmanFilter> algoCache = new ConcurrentHashMap<>();
 
-    /**
-     * 已经感知不到的脏数据
-     */
-    private final ConcurrentHashMap<String, MessagePad.TrackedObject> firstData = new ConcurrentHashMap<>();
     /**
      * 记录每次实际绘制的交通元素UUID
      */
@@ -114,10 +108,7 @@ public class IdentifyDataDrawer {
             MogoMarkerManager.getInstance(mContext)
                     .updateBatchMarkerPosition(filterList);
         }
-
-        CallerLogger.INSTANCE.d(M_HMI + "arrow48", "first data size  : " + firstData.size() + " , mMarkersCaches : " + mMarkersCaches.size());
-        // 首次未添加的感知物在调用完绘制方法后再塞入cache map
-        mMarkersCaches.putAll(firstData);
+        CallerLogger.INSTANCE.d(M_HMI + "arrow48",  "mMarkersCaches : " + mMarkersCaches.size());
     }
 
     /**
@@ -126,7 +117,6 @@ public class IdentifyDataDrawer {
      * @return 过滤后的数据集合
      */
     private ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
-        firstData.clear();
         mFilterTrafficData.clear();
         trafficDataUuidList.clear();
         for (MessagePad.TrackedObject data : trafficData) {
@@ -135,38 +125,24 @@ public class IdentifyDataDrawer {
                 //CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
                 continue;
             }
-
+            String uuid = "" + data.getUuid();
             //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());
+            MessagePad.TrackedObject cacheData = mMarkersCaches.get(uuid);
             if (cacheData != null) {
-                MessagePad.TrackedObject correctData = null;
+                MessagePad.TrackedObject correctData;
                 //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 + "arrow48", "uuid: " + data.getUuid() + " , 40~90差值范围 , 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
+                double correctHeading = kalmanCorrect(data);
+                if(correctHeading != cacheData.getHeading()){
+                    CallerLogger.INSTANCE.d(M_HMI + "arrow48", "uuid: " + uuid + " , kalmanCorrect : " + correctHeading + " , 修正 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) {
-                        double heading = kalmanCorrect(data);
-                        CallerLogger.INSTANCE.d(M_HMI + "arrow48", "uuid: " + data.getUuid() + " , 夹角 : " + degree + " , kalmanCorrect : " + heading + " , 修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
-                        correctData = data.toBuilder().setHeading(heading).build();
-                    } else {
-                        CallerLogger.INSTANCE.d(M_HMI + "arrow48", "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
-                    mMarkersCaches.put("" + data.getUuid(), correctData);
-                } else {
-                    mFilterTrafficData.add(data);
-                    //更新已存在的感知物体数据
-                    mMarkersCaches.put("" + data.getUuid(), data);
-                }
-            } else {
-                firstData.put("" + data.getUuid(), data);
+                correctData = data.toBuilder().setHeading(correctHeading).build();
+                mFilterTrafficData.add(correctData);
+                //更新已存在的感知物体数据
+                mMarkersCaches.put(uuid, correctData);
+            }else{
+                mMarkersCaches.put(uuid, data);
             }
-            trafficDataUuidList.add("" + data.getUuid());
+            trafficDataUuidList.add(uuid);
         }
         return mFilterTrafficData;
     }
@@ -181,7 +157,7 @@ public class IdentifyDataDrawer {
             algoCache.put(uuid, kf);
             MessagePad.TrackedObject cacheTrackObj = mMarkersCaches.get(uuid);
             assert cacheTrackObj != null;
-            if (data.getSpeed() >= 4) {
+            if (data.getSpeed() >= 3) {
                 double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheTrackObj.getLongitude(), cacheTrackObj.getLatitude(), lonLat[0], lonLat[1]);
                 CallerLogger.INSTANCE.d(M_HMI + "arrow48", " uuid : " + uuid + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + "  ---- " + (data.getHeading() - heading));
                 return heading;