diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
index fb591513..baa553e7 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
@@ -114,7 +114,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
         double[] b562Result = focusCalculator.resultB562(lastEfk);
         double[] r9250Result = null;
         //判断 取到的b562  和上次融合坐标做判断，如果距离>100mm  不计算9250
-        if (lastEfk != null && FocusCalculator1.disXY(b562Result,lastEfk)<100){
+        if (lastEfk != null && b562Result!=null && FocusCalculator1.disXY(b562Result,lastEfk)<100){
             r9250Result = focusCalculator.result9250();
         }
         double[] result = focusCalculator.ekfResult(b562Result,r9250Result);
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/tcp/RtcmTcpHandler.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/tcp/RtcmTcpHandler.java
index acf5306a..536e2b8c 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/tcp/RtcmTcpHandler.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/tcp/RtcmTcpHandler.java
@@ -6,9 +6,12 @@ import com.imdroid.sideslope.executor.MessageParser;
 import com.imdroid.sideslope.message.BaseMessage;
 import com.imdroid.sideslope.server.OnlineChannels;
 import io.netty.buffer.ByteBuf;
+import io.netty.channel.Channel;
 import io.netty.channel.ChannelHandler;
 import io.netty.channel.ChannelHandlerContext;
 import io.netty.channel.SimpleChannelInboundHandler;
+import io.netty.handler.timeout.IdleState;
+import io.netty.handler.timeout.IdleStateEvent;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
@@ -34,16 +37,29 @@ public class RtcmTcpHandler extends SimpleChannelInboundHandler<ByteBuf> {
         }
     }
 
+    @Override
+    public void userEventTriggered(ChannelHandlerContext ctx, Object evt) throws Exception {
+        if(evt instanceof IdleStateEvent) {
+            IdleStateEvent event = (IdleStateEvent) evt;
+
+            if (event.state() == IdleState.READER_IDLE) {
+                Channel channel = ctx.channel();
+                logger.info(channel.remoteAddress() + " idle too long to be closed");
+                channel.close();
+            }
+        }
+    }
+
     @Override
     public void channelInactive(ChannelHandlerContext ctx)
             throws Exception {
         logger.info("channel inactive");
+        ctx.close();
     }
 
     @Override
     public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) {
         cause.printStackTrace();
-
         ctx.close();
     }
 
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/tcp/RtcmTcpServer.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/tcp/RtcmTcpServer.java
index 96fbb148..c3834021 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/tcp/RtcmTcpServer.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/tcp/RtcmTcpServer.java
@@ -6,6 +6,7 @@ import io.netty.channel.nio.NioEventLoopGroup;
 import io.netty.channel.socket.nio.NioServerSocketChannel;
 import io.netty.handler.logging.LogLevel;
 import io.netty.handler.logging.LoggingHandler;
+import io.netty.handler.timeout.IdleStateHandler;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Value;
@@ -38,7 +39,9 @@ public class RtcmTcpServer implements ApplicationRunner {
                     .childHandler(new ChannelInitializer() {
                         @Override
                         protected void initChannel(Channel channel) throws Exception {
-                            channel.pipeline().addLast(new RtcmTcpHandler());
+                            ChannelPipeline p = channel.pipeline();
+                            p.addLast(new IdleStateHandler(300, 300, 300));    //设置心跳超时时间，秒
+                            p.addLast(new RtcmTcpHandler());
                         }
                     });
             Channel ch = b.bind(port).sync().channel();