diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
index c24b20cf..6b44b3a2 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
@@ -17,6 +17,8 @@ import org.springframework.stereotype.Component;
 
 import javax.annotation.Resource;
 import java.time.LocalDateTime;
+import java.util.Timer;
+import java.util.TimerTask;
 
 
 /**
@@ -31,6 +33,11 @@ import java.time.LocalDateTime;
 public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessage, Void> {
     private final Logger logger = LoggerFactory.getLogger(this.getClass());
 
+    final String F9PColdStartCmd = "b56206040400000002001068";
+    final String BTCloseMneaCmd = "424be8e1020a00040000ffff";
+    final String BTOpenGGACmd = "424b852c0208000400000001";
+    final String BTSaveCmd = "424bcc1726040000";
+
     @Autowired
     private DataPersistService dataPersistService;
     @Autowired
@@ -61,6 +68,7 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         ThreadManager.getFixedThreadPool().submit(() -> {
             // 检查是否需要对设备的F9P进行冷启动操作
             checkAndSendF9PColdStartCommand(device);
+            checkAndResetBTGnss(device);
             // 通知beidou服务设备上线，这里会触发参数同步
             GnssStatus lastGnssStatus = dataPersistService.getDeviceState(message.getId());
             try {
@@ -102,8 +110,7 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
                 device.getDeviceType() == Device.DEVICE_ROVER){
             // 连续6个周期无解，则发送 F9P 冷启动指令
             if((device.getWarningcode()&WarningCfg.TYPE_NO_FIXED_RESULT) !=0){
-                sendF9PColdStartCommand(device);
-                logger.info("{}: 连续{}次无固定解和浮点解，发送 F9P 冷启动指令",device.getDeviceId(), device.getNoFixedAndFloatResult());
+                startF9PColdStartTask(device);
                 device.clearNoResultStat();
             }
         }
@@ -139,13 +146,11 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         saveMsg(device.getDeviceId(), device.getTenantId(),0xD313, sendCmd, true);
     }
 */
-    void sendF9PColdStartCommand(Device device){
+    void sendGnssCommand(Device device, String gnssCmd){
         int msgType = 0xD310;
-        // F9P 冷启动 b5 62 06 04 04 00 00 00 02 00 10 68
-        String sendCmd = "b56206040400000002001068";
-        short len = (short) (sendCmd.length()/2+4);
-        sendCmd = Integer.toHexString(msgType) + HexUtil.Short2HexString(len)+
-                HexUtil.Int2HexString(Integer.parseInt(device.getDeviceId()))+sendCmd;
+        short len = (short) (gnssCmd.length()/2+4);
+        String sendCmd = Integer.toHexString(msgType) + HexUtil.Short2HexString(len)+
+                HexUtil.Int2HexString(Integer.parseInt(device.getDeviceId()))+gnssCmd;
         rtcmClient.config(device.getDeviceId(), sendCmd);
         saveMsg(device.getDeviceId(), device.getTenantId(),0xD310, sendCmd, true);
     }
@@ -159,4 +164,66 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
 
         rtcmClient.config(device.getDeviceId(), sendCmd);
     }
+
+    private void checkAndResetBTGnss(Device device){
+        if(device.getModel() == GnssDevice.MODEL_G510 &&
+                device.getDeviceType() == Device.DEVICE_ROVER){
+            // 连续6个周期无解，则发送 F9P 冷启动指令
+            if(device.getNoFixedAndFloatResult()>0 &&device.getAbnormalD341Num()>10){
+                startBTResetTask(device);
+                device.clearNoResultStat();
+            }
+        }
+    }
+
+    void startF9PColdStartTask(Device device){
+        Timer timer = new Timer();
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, F9PColdStartCmd);
+                logger.info("{}: 连续{}次无固定解和浮点解，发送 F9P 冷启动指令",device.getDeviceId(), device.getNoFixedAndFloatResult());
+            }
+        },1000);
+    }
+
+    void startBTResetTask(Device device){
+        Timer timer = new Timer();
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, BTCloseMneaCmd);
+            }
+        },1000);
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, BTCloseMneaCmd);
+            }
+        },4000);
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, BTOpenGGACmd);
+            }
+        },7000);
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, BTOpenGGACmd);
+            }
+        },10000);
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, BTSaveCmd);
+            }
+        },13000);
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, BTSaveCmd);
+            }
+        },16000);
+    }
 }
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java
index ad270ba0..8b40a4f0 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java
@@ -1,5 +1,6 @@
 package com.imdroid.sideslope.sal;
 
+import com.imdroid.secapi.dto.GnssDevice;
 import com.imdroid.sideslope.bd.Gga;
 import com.imdroid.sideslope.bd.UBXUtil;
 import lombok.Data;
@@ -75,6 +76,7 @@ public class Device {
     int floatNum = 0;
     LocalDateTime lastValidCalcDataTime; //最近一次有效解
     int warningcode = 0;
+    short abnormalD341Num = 0;
 
     public void updateRx(int head, int bytes,int count){
         lastRxHead = head;
@@ -96,6 +98,7 @@ public class Device {
                 d341Count+=count;
                 d341bytes += bytes;
                 lastRxTime = LocalDateTime.now();
+                if(model== GnssDevice.MODEL_G510 && bytes>100) abnormalD341Num++;
                 break;
             case 0xd342:
                 d342Count ++;
@@ -124,7 +127,7 @@ public class Device {
     }
 
     public void clearStat(){
-        if(fixedNum+floatNum == 0 && deviceType == DEVICE_ROVER) noFixedAndFloatResult++;
+        if(fixedNum+floatNum <= 5 && deviceType == DEVICE_ROVER) noFixedAndFloatResult++;
         else noFixedAndFloatResult = 0;
 
         d3xxCount = 0;
@@ -146,6 +149,7 @@ public class Device {
     public void clearNoResultStat(){
         noFixedAndFloatResult = 0;
         warningcode = 0;
+        abnormalD341Num = 0;
     }
 
 }