diff --git a/third_party/can_btm/balise_detection.go b/third_party/can_btm/balise_detection.go
new file mode 100644
index 0000000..2060f24
--- /dev/null
+++ b/third_party/can_btm/balise_detection.go
@@ -0,0 +1,296 @@
+package can_btm
+
+import (
+	"fmt"
+	"joylink.club/rtsssimulation/component"
+	"joylink.club/rtsssimulation/repository"
+	"joylink.club/rtsssimulation/repository/model/proto"
+	"log/slog"
+	"math"
+	"sort"
+	"sync"
+	"time"
+)
+
+//通过提前预测来实现BTM天线扫描应答器的实时性
+
+// BtmAntennaRunningInfo 车载BTM天线中心点位置运行信息
+// BTM天线一般在第一车轴后某个位置
+type BtmAntennaRunningInfo struct {
+	Up           bool    //车载BTM天线中心点运行方向
+	LinkId       string  //车载BTM天线中心点所在轨道的id
+	LinkOffset   int64   //车载BTM天线中心点所在轨道上的偏移，mm
+	Speed        float32 //列车运行速度（m/s）
+	Acceleration float32 //加速度(m/s^2)
+}
+
+const (
+	BtmAntennaOffsetHead = int64(1000) //车载BTM天线距车头端点的距离，mm
+)
+
+// TrainHeadPositionInfo 列车车头运行位置信息
+type TrainHeadPositionInfo struct {
+	//列车id
+	TrainId string
+	//列车头当前运行方向（true偏移量增大/false减小方向）
+	Up bool
+	//列车所在轨道link
+	Link string
+	//列车所在link偏移量（mm）
+	LinkOffset int64
+	//列车运行速度（m/s）
+	Speed float32
+	//加速度(m/s^2)
+	Acceleration float32
+}
+type BtmAntennaToBaliseInfo struct {
+	Distance int64  //BTM天线中心到应答器的距离，mm
+	BaliseId string //应答器id
+}
+type BtmAntennaScanningBaliseInfo struct {
+	BaliseId string    //应答器id
+	Time     time.Time //应答器预计被BTM天线激活的时刻
+}
+type BaliseDetector struct {
+	basbi     *BtmAntennaScanningBaliseInfo
+	basbiLock sync.Mutex
+}
+
+func (t *BaliseDetector) Detect(wd *component.WorldData, repo *repository.Repository, th *TrainHeadPositionInfo) {
+	curTime := time.Now()
+	bari := t.createBtmAntennaRunningInfo(wd, repo, th)
+	//预测BTM天线到最近一个应答器的时刻
+	basbi := t.timeScanNearestBalise(curTime, wd, repo, bari)
+	if basbi != nil {
+		t.updateBasbi(basbi)
+		slog.Debug("将要激活应答器", "BaliseId", basbi.BaliseId, "ActiveTime", basbi.Time)
+	}
+}
+func (t *BaliseDetector) ScanBaliseByTime(curTime time.Time) *BtmAntennaScanningBaliseInfo {
+	t.basbiLock.Lock()
+	defer t.basbiLock.Unlock()
+	//
+	if t.basbi != nil && curTime.UnixMilli() >= t.basbi.Time.UnixMilli() {
+		rt := *t.basbi
+		return &rt
+	}
+	return nil
+}
+func (t *BaliseDetector) updateBasbi(basbi *BtmAntennaScanningBaliseInfo) {
+	t.basbiLock.Lock()
+	defer t.basbiLock.Unlock()
+	//
+	if basbi != nil {
+		*t.basbi = *basbi
+	} else {
+		t.basbi = nil
+	}
+}
+
+// 计算列车在当前运行状态下，预测到最近一个应答器的时刻
+func (t *BaliseDetector) timeScanNearestBalise(curTime time.Time, wd *component.WorldData, repo *repository.Repository, ba *BtmAntennaRunningInfo) *BtmAntennaScanningBaliseInfo {
+	expectedBalise := t.findBaliseWillScanByBtmAntenna(wd, repo, ba)
+	if expectedBalise != nil {
+		curV := float64(ba.Speed)
+		curAc := float64(ba.Acceleration)
+		s := float64(expectedBalise.Distance) / 1000
+		st, ok := t.calculateBtmAntennaScanNextBaliseTime(curTime, curV, curAc, s)
+		if ok {
+			return &BtmAntennaScanningBaliseInfo{BaliseId: expectedBalise.BaliseId, Time: st}
+		}
+	}
+	return nil
+}
+
+// 预测BTM天线到运行方向的最近应答器的时刻
+// curV-当前时刻BTM天线速度,m/s
+// curAc-当前时刻BTM天线加速度,m/s^2
+// s-BTM天线从当前时刻所处位置到运行方向最近一个应答器的位移,m
+func (t *BaliseDetector) calculateBtmAntennaScanNextBaliseTime(curTime time.Time, curV float64, curAc float64, s float64) (time.Time, bool) {
+	a := 0.5 * curAc
+	b := curV
+	c := -s
+	//nt 单位秒
+	nt, ok := t.calculateQuadratic(a, b, c)
+	if ok {
+		return curTime.Add(time.Millisecond * time.Duration(nt*1000)), true
+	}
+	return curTime, false
+}
+
+// 获取车载BTM天线中心点运行方向最近的1个应答器
+func (t *BaliseDetector) findBaliseWillScanByBtmAntenna(wd *component.WorldData, repo *repository.Repository, ba *BtmAntennaRunningInfo) *BtmAntennaToBaliseInfo {
+	//BTM天线中心点所在轨道
+	baLink := repo.FindLink(ba.LinkId)
+	rs1 := t.searchBalisesFromLinkPosition(repo, ba.LinkId, ba.Up, ba.LinkOffset)
+	if ba.Up {
+		if len(rs1) > 0 {
+			return &BtmAntennaToBaliseInfo{BaliseId: rs1[0].Id(), Distance: rs1[0].LinkPosition().Offset() - ba.LinkOffset}
+		} else {
+			nextLinkPort := t.getNextLink(wd, repo, ba.LinkId, ba.Up)
+			if nextLinkPort != nil {
+				if nextLinkPort.IsPortA() {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), true, 0)
+					if len(rs2) > 0 {
+						return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: baLink.Length() - ba.LinkOffset + rs2[0].LinkPosition().Offset()}
+					}
+				} else {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), false, nextLinkPort.Link().Length())
+					if len(rs2) > 0 {
+						return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: baLink.Length() - ba.LinkOffset + nextLinkPort.Link().Length() - rs2[0].LinkPosition().Offset()}
+					}
+				}
+			}
+		}
+	} else {
+		if len(rs1) > 0 {
+			return &BtmAntennaToBaliseInfo{BaliseId: rs1[0].Id(), Distance: ba.LinkOffset - rs1[0].LinkPosition().Offset()}
+		} else {
+			nextLinkPort := t.getNextLink(wd, repo, ba.LinkId, ba.Up)
+			if nextLinkPort != nil {
+				if nextLinkPort.IsPortA() {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), true, 0)
+					if len(rs2) > 0 {
+						return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: ba.LinkOffset + rs2[0].LinkPosition().Offset()}
+					}
+				} else {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), false, nextLinkPort.Link().Length())
+					if len(rs2) > 0 {
+						return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: ba.LinkOffset + nextLinkPort.Link().Length() - rs2[0].LinkPosition().Offset()}
+					}
+				}
+			}
+		}
+	}
+	return nil
+}
+
+// up-在轨道上的搜索方向
+func (t *BaliseDetector) searchBalisesFromLinkPosition(repo *repository.Repository, linkId string, up bool, fromOffset int64) []*repository.Transponder {
+	rs := repo.ResponderListByLink(linkId)
+	if up {
+		sort.SliceStable(rs, func(i, j int) bool {
+			return rs[i].LinkPosition().Offset() < rs[j].LinkPosition().Offset()
+		})
+		//
+		for i, r := range rs {
+			if r.LinkPosition().Offset() >= fromOffset {
+				return rs[i:]
+			}
+		}
+	} else {
+		sort.SliceStable(rs, func(i, j int) bool {
+			return rs[j].LinkPosition().Offset() < rs[i].LinkPosition().Offset()
+		})
+		for i, r := range rs {
+			if r.LinkPosition().Offset() <= fromOffset {
+				return rs[i:]
+			}
+		}
+	}
+	return nil
+}
+
+// 列车车头端点运行信息转换为车载BTM天线中心点运行信息
+func (t *BaliseDetector) createBtmAntennaRunningInfo(wd *component.WorldData, repo *repository.Repository, head *TrainHeadPositionInfo) *BtmAntennaRunningInfo {
+	headLink := repo.FindLink(head.Link)
+	if head.Up {
+		if head.LinkOffset >= BtmAntennaOffsetHead { //车头与BTM天线在同一个轨道上
+			return &BtmAntennaRunningInfo{Up: head.Up, LinkId: head.Link, LinkOffset: head.LinkOffset - BtmAntennaOffsetHead, Speed: head.Speed, Acceleration: head.Acceleration}
+		} else { //车头与BTM天线在同一个轨道上
+			nextLinkPort := t.getNextLink(wd, repo, head.Link, !head.Up)
+			nextLink := nextLinkPort.Link()
+			if nextLinkPort.IsPortA() {
+				return &BtmAntennaRunningInfo{Up: false, LinkId: nextLink.Id(), LinkOffset: BtmAntennaOffsetHead - head.LinkOffset, Speed: head.Speed, Acceleration: head.Acceleration}
+			} else {
+				return &BtmAntennaRunningInfo{Up: true, LinkId: nextLink.Id(), LinkOffset: nextLink.Length() - (BtmAntennaOffsetHead - head.LinkOffset), Speed: head.Speed, Acceleration: head.Acceleration}
+			}
+		}
+	} else {
+		if headLink.Length()-head.LinkOffset >= BtmAntennaOffsetHead { //车头与BTM天线在同一个轨道上
+			return &BtmAntennaRunningInfo{Up: head.Up, LinkId: head.Link, LinkOffset: head.LinkOffset + BtmAntennaOffsetHead, Speed: head.Speed, Acceleration: head.Acceleration}
+		} else {
+			nextLinkPort := t.getNextLink(wd, repo, head.Link, !head.Up)
+			nextLink := nextLinkPort.Link()
+			if nextLinkPort.IsPortA() {
+				return &BtmAntennaRunningInfo{Up: false, LinkId: nextLink.Id(), LinkOffset: BtmAntennaOffsetHead - headLink.Length() + head.LinkOffset, Speed: head.Speed, Acceleration: head.Acceleration}
+			} else {
+				return &BtmAntennaRunningInfo{Up: true, LinkId: nextLink.Id(), LinkOffset: nextLink.Length() - (BtmAntennaOffsetHead - headLink.Length() + head.LinkOffset), Speed: head.Speed, Acceleration: head.Acceleration}
+			}
+		}
+	}
+}
+func (t *BaliseDetector) getNextLink(wd *component.WorldData, repo *repository.Repository, curLinkId string, searchDirection bool) *repository.LinkPort {
+	var nextLinkPort *repository.LinkPort
+	curLink := repo.FindLink(curLinkId)
+	if searchDirection {
+		bDc := curLink.BRelation()
+		bDcDw := t.turnoutPosition(wd, bDc.Turnout().Id())
+		switch bDc.Port() {
+		case proto.Port_A: //link-b连接turnout-A
+			if bDcDw {
+				nextLinkPort = bDc.Turnout().FindLinkByPort(proto.Port_B)
+			} else {
+				nextLinkPort = bDc.Turnout().FindLinkByPort(proto.Port_C)
+			}
+		case proto.Port_B: //link-b连接turnout-B
+			fallthrough
+		case proto.Port_C: //link-b连接turnout-C
+			nextLinkPort = bDc.Turnout().FindLinkByPort(proto.Port_A)
+		}
+	} else {
+		aDc := curLink.ARelation()
+		aDcDw := t.turnoutPosition(wd, aDc.Turnout().Id())
+		switch aDc.Port() {
+		case proto.Port_A: //link-a连接turnout-A
+			if aDcDw {
+				nextLinkPort = aDc.Turnout().FindLinkByPort(proto.Port_B)
+			} else {
+				nextLinkPort = aDc.Turnout().FindLinkByPort(proto.Port_C)
+			}
+		case proto.Port_B: //link-a连接turnout-B
+			fallthrough
+		case proto.Port_C: //link-a连接turnout-C
+			nextLinkPort = aDc.Turnout().FindLinkByPort(proto.Port_A)
+		}
+	}
+	//
+	return nextLinkPort
+}
+
+// 获取道岔实际位置(线程不安全)
+func (t *BaliseDetector) turnoutPosition(wd *component.WorldData, id string) bool {
+	entry, ok := wd.EntityMap[id]
+	if ok {
+		return component.TurnoutPositionType.Get(entry).Dw
+	} else {
+		panic(fmt.Sprintf("道岔[%s]的实体不存在", id))
+	}
+}
+
+// 解 ax²+bx+c=0
+func (t *BaliseDetector) calculateQuadratic(a, b, c float64) (float64, bool) {
+	//D=b²-4ac
+	d := b*b - 4*a*c
+	if d < 0 {
+		return 0, false
+	} else if d == 0 { //若D=0，则计算它的重根：x=-b/2a
+		return -(b / (2 * a)), true
+	} else { //若D>0，则计算它的两个根：x1=(-b+√D)/2a，x2=(-b-√D)/2a
+		sqrtD := math.Sqrt(d)
+		ax2 := 2 * a
+		//选择正直输出
+		x1 := (-b + sqrtD) / ax2
+		x2 := (-b - sqrtD) / ax2
+		if x1 >= 0 && x2 >= 0 {
+			panic("x1 >= 0 && x2 >= 0")
+		}
+		if x1 >= 0 {
+			return x1, true
+		}
+		if x2 >= 0 {
+			return x2, true
+		}
+	}
+	return 0, false
+}