diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java
index 897ec163..874ae472 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java
@@ -68,14 +68,37 @@ public class GNSSCalcFilterService {
         // 检查是不是坏点
         GnssCalcData record0 = null;
         if(gnssHistoryRecords.size()>0) record0 = gnssHistoryRecords.get(0);
-        if(record0 != null && Math.abs(record0.getB562e() - newRecord.getB562e())<0.001) {
+
+        //如果上一个点为空，则这个点是第一个点，判为无效
+        if(record0 == null) return false;
+        //连续两个相同的点也认为无效
+        if(Math.abs(record0.getB562e() - newRecord.getB562e())<0.001) {
             return false;
         }
-        if(referPos==null && record0!=null) {
-            referPos = new double[]{record0.getB562e(), record0.getB562n(), record0.getB562d()};
+        //和上一个点相比，超过门限则认为无效
+        if (Math.abs(newRecord.getB562e() - record0.getB562e()) > xyThreshold ||
+                Math.abs(newRecord.getB562n() - record0.getB562n()) > xyThreshold ||
+                Math.abs(newRecord.getB562d() - record0.getB562d()) > zThreshold) {
+            isGood = false; //记录为坏点，下次不参与滤波
+            logger.debug("{} bad point",newRecord.getDeviceid());
         }
-        if(referPos==null) return false;
-
+        // 如果是好点，对于增强算法还需做进一步判断
+        if(isGood && isAdvFilter){
+            //和参考点比，如果是坏点，再和前二个点比如果还是坏点才认为是坏点
+            isGood =(referPos!=null && (Math.abs(newRecord.getB562e() - referPos[0]) <= xyThreshold &&
+                    Math.abs(newRecord.getB562n() - referPos[1]) <= xyThreshold &&
+                    Math.abs(newRecord.getB562d() - referPos[2]) <= zThreshold));
+            if(!isGood){
+                GnssCalcData record1 = null;
+                if (gnssHistoryRecords.size() > 1) record1 = gnssHistoryRecords.get(1);
+                isGood =(record1 == null ||
+                        ((Math.abs(newRecord.getB562e() - record1.getB562e()) <= xyThreshold &&
+                        Math.abs(newRecord.getB562n() - record1.getB562n()) <= xyThreshold &&
+                        Math.abs(newRecord.getB562d() - record1.getB562d()) <= zThreshold)));
+            }
+            logger.debug("{} point adv judge {}",newRecord.getDeviceid(), isGood);
+        }
+        /*
         if (Math.abs(newRecord.getB562e() - referPos[0]) > xyThreshold ||
                 Math.abs(newRecord.getB562n() - referPos[1]) > xyThreshold ||
                 Math.abs(newRecord.getB562d() - referPos[2]) > zThreshold) {
@@ -87,13 +110,16 @@ public class GNSSCalcFilterService {
             GnssCalcData record1 = null;
             if(gnssHistoryRecords.size()>1) record1 = gnssHistoryRecords.get(1);
             if(record1 == null ||
-                    Math.abs(newRecord.getB562e() - record1.getB562e()) > xyThreshold*2 ||
+                    (Math.abs(newRecord.getB562e() - record1.getB562e()) > xyThreshold*2 ||
                     Math.abs(newRecord.getB562n() - record1.getB562n()) > xyThreshold*2 ||
-                    Math.abs(newRecord.getB562d() - record1.getB562d()) > zThreshold*2) {
+                    Math.abs(newRecord.getB562d() - record1.getB562d()) > zThreshold*2) ||
+                    (Math.abs(newRecord.getB562e() - referPos[0]) > xyThreshold ||
+                            Math.abs(newRecord.getB562n() - referPos[1]) > xyThreshold ||
+                            Math.abs(newRecord.getB562d() - referPos[2]) > zThreshold)) {
                 logger.debug("{} adv filter bad point",newRecord.getDeviceid());
                 isGood = false; //记录为坏点，下次不参与滤波
             }
-        }
+        }*/
         return isGood;
     }
 
@@ -174,7 +200,7 @@ public class GNSSCalcFilterService {
         // 选取[newRecordTime-filterCycleHour, newRcordTime]之间的记录做平滑
         // 如果这个时间段的记录数少于FILTER_MIN_RECORD_NUM，本次不做平滑
         LocalDateTime newRecordTime = newRecord.getCreatetime();
-        LocalDateTime filterAfterTime = newRecordTime.minusHours(filterCycleHour<zFilterCycleHour?zFilterCycleHour:filterCycleHour);
+        LocalDateTime filterAfterTime = newRecordTime.minusHours(Math.max(filterCycleHour,zFilterCycleHour));
         LocalDateTime xyFilterTime = newRecordTime.minusHours(filterCycleHour);
         LocalDateTime zFilterTime = newRecordTime.minusHours(zFilterCycleHour);
         LocalDateTime minCycleTime = newRecordTime.minusHours(minCycleHour);