diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
index 116ba6c51f..9d0871ad0c 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
@@ -1,16 +1,16 @@
 package com.mogo.eagle.core.function.business.routeoverlay;
 
 import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningTrajectoryListener;
-import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager;
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 
 import org.jetbrains.annotations.NotNull;
 
@@ -26,7 +26,7 @@ import system_master.SystemStatusInfo;
 public class MogoRouteOverlayManager implements
         IMoGoPlanningTrajectoryListener,
         IMoGoAutopilotStatusListener,
-        IMoGoMapLocationListener {
+        IMoGoChassisLocationGCJ02Listener {
     private static volatile MogoRouteOverlayManager sInstance;
     private static final String TAG = "Route";
 
@@ -35,13 +35,14 @@ public class MogoRouteOverlayManager implements
 
     private final LinkedList<List<MessagePad.TrajectoryPoint>> queue = new LinkedList<>();
 
-    private MogoRouteOverlayManager() {}
+    private MogoRouteOverlayManager() {
+    }
 
 
     public void init() {
         CallerPlanningTrajectoryListenerManager.INSTANCE.addListener(TAG, this);
         CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
+        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, this);
     }
 
     public static MogoRouteOverlayManager getInstance() {
@@ -64,10 +65,10 @@ public class MogoRouteOverlayManager implements
     }
 
     @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
-//        if (from != 1 || location == null) {
-//            return;
-//        }
+    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        if (gnssInfo == null) {
+            return;
+        }
         if (isArriveAtStation.get() && autopilotMode.get() != 1) {
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
@@ -81,7 +82,7 @@ public class MogoRouteOverlayManager implements
             if (!queue.isEmpty()) {
                 List<MessagePad.TrajectoryPoint> items = queue.pollLast();
                 if (items != null && !items.isEmpty()) {
-                    RouteOverlayDrawer.getInstance().drawTrajectoryList(items, location.getBearing());
+                    RouteOverlayDrawer.getInstance().drawTrajectoryList(items, gnssInfo.getHeading());
                 }
             }
         }
@@ -122,5 +123,6 @@ public class MogoRouteOverlayManager implements
     }
 
     @Override
-    public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {}
+    public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
+    }
 }
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
index 38ff5c2452..dd46dca0ee 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
@@ -1,37 +1,43 @@
 package com.mogo.eagle.core.function.v2x.events.scenario.scene.airoad
 
-import android.animation.*
-import android.content.*
-import android.graphics.*
-import android.os.*
-import android.view.animation.*
+import android.animation.ArgbEvaluator
+import android.content.Context
+import android.graphics.Color
+import android.os.Handler
+import android.os.Looper
+import android.view.animation.DecelerateInterpolator
 import androidx.core.util.Pair
-import androidx.lifecycle.*
 import androidx.lifecycle.Lifecycle.Event
 import androidx.lifecycle.Lifecycle.Event.ON_CREATE
 import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
+import androidx.lifecycle.LifecycleEventObserver
+import androidx.lifecycle.LifecycleOwner
 import com.mogo.commons.AbsMogoApplication
-import com.mogo.eagle.core.data.map.*
 import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
+import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
-import com.mogo.eagle.core.function.api.map.listener.*
-import com.mogo.eagle.core.function.api.v2x.*
-import com.mogo.eagle.core.function.call.map.*
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.function.api.v2x.OnClearAllMarker
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
-import com.mogo.eagle.core.function.call.v2x.*
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.v2x.CallMarkersClearManager
 import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.V2X_EVENT_ALARM_POI
-import com.mogo.eagle.core.function.v2x.events.scenario.scene.road.*
-import com.mogo.eagle.core.utilcode.kotlin.*
-import com.mogo.eagle.core.utilcode.mogo.logger.*
+import com.mogo.eagle.core.function.v2x.events.scenario.scene.road.V2XAiRoadEventMarker
+import com.mogo.eagle.core.utilcode.kotlin.lifeCycleOwner
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
-import com.mogo.map.*
-import com.mogo.map.overlay.*
-import io.netty.util.internal.*
-import java.lang.Runnable
+import com.mogo.map.MogoMap
+import com.mogo.map.overlay.IMogoPolyline
+import com.mogo.map.overlay.MogoPolylineOptions
+import io.netty.util.internal.ConcurrentSet
+import mogo.telematics.pad.MessagePad
 import java.util.*
-import java.util.concurrent.*
-import java.util.concurrent.atomic.*
-import kotlin.collections.ArrayList
+import java.util.concurrent.Executors
+import java.util.concurrent.LinkedBlockingQueue
+import java.util.concurrent.atomic.AtomicReference
 
 /**
  * Ai云道路施工事件，道路颜色标记类
@@ -48,12 +54,16 @@ object AiRoadMarker {
 
     private val carLocation by lazy { AtomicReference<Triple<Double, Double, Double>>() }
 
-    private val overlayManager by lazy { CallerMapUIServiceManager.getOverlayManager(AbsMogoApplication.getApp()) }
+    private val overlayManager by lazy {
+        CallerMapUIServiceManager.getOverlayManager(
+            AbsMogoApplication.getApp()
+        )
+    }
 
     private val line by lazy { AtomicReference<IMogoPolyline>() }
 
     private val START_COLOR = Color.parseColor("#002ABAD9")
-    private val END_COLOR   = Color.parseColor("#66FF7A30")
+    private val END_COLOR = Color.parseColor("#66FF7A30")
 
     private val handler by lazy {
         Handler(Looper.getMainLooper())
@@ -63,14 +73,19 @@ object AiRoadMarker {
         val poi = this.marker.get()
         val car = this.carLocation.get()
         if (poi != null && car != null) {
-            val distance = DrivingDirectionUtils.distance(car.first, car.second, poi.poi_lon, poi.poi_lat) * 10000
+            val distance = DrivingDirectionUtils.distance(
+                car.first,
+                car.second,
+                poi.poi_lon,
+                poi.poi_lat
+            ) * 10000
             if (distance < 500) {
                 unMarker(poi)
             }
         }
     }
 
-    private val onClearAllMarker = object : OnClearAllMarker  {
+    private val onClearAllMarker = object : OnClearAllMarker {
 
         override fun onClearAllMarkers() {
             Logger.d(TAG, "--- onClearAllMarkers ----")
@@ -131,7 +146,13 @@ object AiRoadMarker {
                         }
                         continue
                     }
-                    val isTrigger = isTriggerEvent(top.poi_lon, top.poi_lat, location.first, location.second, location.third)
+                    val isTrigger = isTriggerEvent(
+                        top.poi_lon,
+                        top.poi_lat,
+                        location.first,
+                        location.second,
+                        location.third
+                    )
                     Logger.d(TAG, "--- consumer --- 3 ---: isTrigger => $isTrigger")
                     if (isTrigger) {
                         marker.set(top)
@@ -150,7 +171,13 @@ object AiRoadMarker {
         }
     }
 
-    private fun isTriggerEvent(x1: Double, y1: Double, x2: Double, y2: Double, a2: Double): Boolean {
+    private fun isTriggerEvent(
+        x1: Double,
+        y1: Double,
+        x2: Double,
+        y2: Double,
+        a2: Double
+    ): Boolean {
         val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(x2, y2, x1, y1, a2)
         if (angle <= 60 && DrivingDirectionUtils.distance(x1, y1, x2, y2) <= 300) {
             return true
@@ -172,6 +199,7 @@ object AiRoadMarker {
             }
             this.roadId = roadId
         }
+
         override fun onStopLineInfo(info: StopLine) {
             Logger.d(TAG, "--- onStopLineInfo --- info: $info")
             if (!hasCrossRoad) {
@@ -180,17 +208,17 @@ object AiRoadMarker {
         }
     }
 
-    private val onLocationListener = object : IMoGoMapLocationListener {
+    private val onLocationListener = object : IMoGoChassisLocationWGS84Listener {
 
-        override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
-            if (location == null || !isGps) {
+        override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo?) {
+            if (gnssInfo == null) {
                 return
             }
             try {
-                val loc = arrayOf(location.longitude, location.latitude)
-                carLocation.set(Triple(loc[0], loc[1], location.bearing.toDouble()))
+                val loc = arrayOf(gnssInfo.longitude, gnssInfo.latitude)
+                carLocation.set(Triple(loc[0], loc[1], gnssInfo.heading.toDouble()))
             } catch (t: Throwable) {
-               Logger.e(TAG, "error: ${t.message}")
+                Logger.e(TAG, "error: ${t.message}")
             }
         }
     }
@@ -198,7 +226,7 @@ object AiRoadMarker {
     private fun onCreate() {
         CallerMapRoadListenerManager.registerRoadListener(TAG, onRoadListener)
         CallMarkersClearManager.addAllMarkersClearListener(TAG, onClearAllMarker)
-        CallerMapLocationListenerManager.addListener(TAG, onLocationListener, true)
+        CallerChassisLocationWGS84ListenerManager.addListener(TAG, onLocationListener)
     }
 
     private fun onDestroy() {
@@ -220,7 +248,10 @@ object AiRoadMarker {
             markers += marker
         }
         pool.execute {
-            Logger.d(TAG, "--- enqueue --- 3 ---${Thread.currentThread().name}::${Thread.currentThread().id}")
+            Logger.d(
+                TAG,
+                "--- enqueue --- 3 ---${Thread.currentThread().name}::${Thread.currentThread().id}"
+            )
             queue.put(marker)
         }
     }
@@ -237,10 +268,20 @@ object AiRoadMarker {
         }
         this.marker.set(marker)
         //施工中心点前方的自车行驶方向上300米距离
-        val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), 300f)
+        val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(
+            marker.poi_lon,
+            marker.poi_lat,
+            location.third.toFloat(),
+            300f
+        )
         //施工中心点后方的自车行驶方向上300米距离
         Logger.d(TAG, "--- marker --- 3 --- l1: $l1")
-        val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), -300f)
+        val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(
+            marker.poi_lon,
+            marker.poi_lat,
+            location.third.toFloat(),
+            -300f
+        )
         if (l1.points.isEmpty() || l2.points.isEmpty()) {
             Logger.d(TAG, "--- marker --- 3 --- return ----")
             synchronized(markers) {
@@ -255,26 +296,39 @@ object AiRoadMarker {
                 MogoLatLng(it.second, it.first)
             })
         }
-        val centerX= marker.poi_lon
+        val centerX = marker.poi_lon
         val centerY = marker.poi_lat
         Logger.d(TAG, "--- marker --- 5 --- marker: $marker")
         val farthestPoint = marker.polygon?.let {
             var find: Pair<Double, Double> = Pair(centerX, centerY)
             var min = Long.MAX_VALUE
             for (p in it) {
-                val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(centerX, centerY, p.first, p.second, location.third)
+                val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                    centerX,
+                    centerY,
+                    p.first,
+                    p.second,
+                    location.third
+                )
                 if (angle < min) {
                     min = angle
                     find = p
                 }
-             }
-             MogoLatLng(find.second, find.first)
+            }
+            MogoLatLng(find.second, find.first)
         } ?: MogoLatLng(centerY, centerX)
         marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
         Logger.d(TAG, "--- marker --- 6 --- marker: $marker")
         if (l1 != null && l1.points.isNotEmpty()) {
             for (l in l1.points) {
-                if (DrivingDirectionUtils.getDegreeOfCar2Poi2(farthestPoint.lon, farthestPoint.lat, l.first, l.second, location.third + 180) < 90L) {
+                if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                        farthestPoint.lon,
+                        farthestPoint.lat,
+                        l.first,
+                        l.second,
+                        location.third + 180
+                    ) < 90L
+                ) {
                     points.add(l.let { MogoLatLng(it.second, it.first) })
                 }
             }
@@ -294,7 +348,11 @@ object AiRoadMarker {
         val total = points.size
         val colors = ArrayList<Int>()
         (0..total).forEach { i ->
-            colors += evaluator.evaluate(interceptor.getInterpolation(i * 1f / total), START_COLOR, END_COLOR) as Int
+            colors += evaluator.evaluate(
+                interceptor.getInterpolation(i * 1f / total),
+                START_COLOR,
+                END_COLOR
+            ) as Int
         }
         var line = line.get()
         options.points(points)
@@ -337,8 +395,16 @@ object AiRoadMarker {
         val poi = this.marker.get()
         val car = this.carLocation.get()
         if (poi != null && car != null) {
-            val distance = DrivingDirectionUtils.distance(car.first, car.second, marker.poi_lon, marker.poi_lat) * 10000
-            Logger.d(TAG, "receive --- 2 ---:car:[${car.first}, ${car.second}] -> poi:[${marker.poi_lon}, ${marker.poi_lat}] --> distance:$distance")
+            val distance = DrivingDirectionUtils.distance(
+                car.first,
+                car.second,
+                marker.poi_lon,
+                marker.poi_lat
+            ) * 10000
+            Logger.d(
+                TAG,
+                "receive --- 2 ---:car:[${car.first}, ${car.second}] -> poi:[${marker.poi_lon}, ${marker.poi_lat}] --> distance:$distance"
+            )
             if (distance < 500) {
                 checkExpired()
             } else {
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
index c4d1d6f357..aa58f4f1ab 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
@@ -9,30 +9,33 @@ import android.text.style.ForegroundColorSpan;
 import android.util.Log;
 
 import androidx.annotation.Nullable;
+
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum;
-import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean;
 import com.mogo.eagle.core.data.msgbox.MsgBoxType;
 import com.mogo.eagle.core.data.msgbox.V2XMsg;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener;
-import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.function.v2x.events.scenario.impl.AbsV2XScenario;
 import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.v2x.data.V2XWarningTarget;
+
 import java.math.BigDecimal;
 import java.util.Locale;
 import java.util.concurrent.TimeUnit;
 
+import mogo.telematics.pad.MessagePad;
+
 /**
  * @author liujing
  * @description 车路云—场景预警-V1.0  前车/行人/摩托车/盲区碰撞预警
  * @since: 2021/3/24
  */
-public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoMapLocationListener, IMoGoWarningStatusListener {
+public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoChassisLocationGCJ02Listener, IMoGoWarningStatusListener {
     private static final String TAG = "V2XWarningMarker";
     private static final V2XWarningMarker sV2XWarningMarker = new V2XWarningMarker();
     private V2XWarningTarget mMarkerEntity;
@@ -128,8 +131,8 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoMapL
     }
 
     @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
-        sV2XWarningMarker.onCarLocationChanged2(location);
+    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        sV2XWarningMarker.onCarLocationChanged2(gnssInfo);
     }
 
     @Override
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
index dca44bc2fd..6e8276034b 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
@@ -32,6 +32,8 @@ import java.util.Arrays;
 import java.util.List;
 import java.util.Objects;
 
+import mogo.telematics.pad.MessagePad;
+
 /**
  * @author liujing
  * @description 前方预警marker打点  绘制安全线和预警线 衡阳交付-取消划线需求,只渲染识别物红色模型移动过程,代码保留
@@ -430,7 +432,7 @@ public class V2XWarningMarker implements IV2XMarker {
     }
 
     //线随车动
-    public void onCarLocationChanged2(MogoLocation latLng) {
+    public void onCarLocationChanged2(MessagePad.GnssInfo latLng) {
         carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
         if (MogoStatusManager.getInstance().isVrMode() && !isSelfLineClear) {
             if (mCloundWarningInfo != null) {