diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java
index 2893d8f6..09ebf6b0 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java
@@ -3,6 +3,7 @@ package com.imdroid.sideslope.bd;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
+import java.time.LocalDateTime;
 import java.util.*;
 
 /**
@@ -24,6 +25,7 @@ public class FocusCalculator1 implements FocusCalculator{
     double pointSelectedRate = 0.5;
     double iterStep = 1;//mm
     double[] referPoint; //参考点，一般是上一次计算的位置，用来辅助计算重心
+    LocalDateTime referPointTime;
 
     // 惯导算法相关
     final List<Tilt> tilts = Collections.synchronizedList(new ArrayList<>());
@@ -34,11 +36,11 @@ public class FocusCalculator1 implements FocusCalculator{
     final double shockThreshold = 1.5;
 
     //其他
-    int delay_ms = 0;
-    int delay_counter = 0;
-    int counterNoB562 = 0;
-    int counterNoFixed = 0;
-    int counterFixedResult = 0;
+    int delay_ms;
+    int delay_counter;
+    int counterNoB562;
+    int counterNoFixed;
+    int counterFixedResult;
 
     /*public FocusCalculator1(double height, Tilt tilt0, double[] position0){
         this.height = height;
@@ -54,6 +56,8 @@ public class FocusCalculator1 implements FocusCalculator{
         counterNoB562 = 0;
         counterNoFixed = 0;
         counterFixedResult = 0;
+        delay_ms = 0;
+        delay_counter = 0;
     }
 
     @Override
@@ -63,6 +67,8 @@ public class FocusCalculator1 implements FocusCalculator{
         counterNoB562 = 0;
         counterNoFixed = 0;
         counterFixedResult = 0;
+        delay_ms = 0;
+        delay_counter = 0;
     }
 
     /**
@@ -102,9 +108,15 @@ public class FocusCalculator1 implements FocusCalculator{
     @Override
     public void setReferPoint(double[] point){
         referPoint = point;
+        referPointTime = LocalDateTime.now();
     }
     @Override
     public double[] getReferPoint(){
+        if(referPoint==null || referPointTime==null) return null;
+
+        if(LocalDateTime.now().isAfter(referPointTime.plusHours(24))) {
+            referPoint = null;
+        }
         return referPoint;
     }
     @Override
@@ -368,7 +380,8 @@ public class FocusCalculator1 implements FocusCalculator{
     }
     @Override
     public int getAvgDelayMs(){
-        return delay_ms/delay_counter;
+        if(delay_counter==0) return -1;
+        else return delay_ms/delay_counter;
     }
 
 }
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator2.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator2.java
index 1ce6a63c..1d215d4b 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator2.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator2.java
@@ -148,7 +148,8 @@ public class FocusCalculator2 extends FocusCalculator1{
     public void setReferPoint(double[] point){
         if(referPointFilteredFlag){
             // 初始参考位置保持24小时
-            if(initReferPointTime!=null && LocalDateTime.now().isAfter(initReferPointTime.plusHours(1))){
+            if(initReferPointTime!=null &&
+                    LocalDateTime.now().isAfter(initReferPointTime.plusHours(24))){
                 referPoint = point;
             }
         }
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/MultiLineGNSSCalcService.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/MultiLineGNSSCalcService.java
index 0df175ec..fd075de6 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/MultiLineGNSSCalcService.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/MultiLineGNSSCalcService.java
@@ -47,7 +47,7 @@ public class MultiLineGNSSCalcService {
     GnssGroupCalcMapper groupCalcMapper;
     List<GnssGroupCalc> groupCalcList;
 
-    GnssGroupCalc getGroupCalc(int groupId){
+    synchronized GnssGroupCalc getGroupCalc(int groupId){
         if(groupCalcList == null){
             groupCalcList = groupCalcMapper.selectList(null);
         }
@@ -187,6 +187,7 @@ public class MultiLineGNSSCalcService {
     }
 
     public void refreshGroupCalc(){
+        if(groupCalcList!=null) groupCalcList.clear();
         groupCalcList = groupCalcMapper.selectList(null);
         logger.info("group paras changed");
     }
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 a9ceab44..b9223069 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
@@ -44,9 +44,11 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
 
     @Autowired
     GnssGroupCalcMapper groupCalcMapper;
+
+    // 非线程安全，需加同步保护
     List<GnssGroupCalc> groupCalcList;
 
-    GnssGroupCalc getGroupCalc(int groupId){
+    synchronized GnssGroupCalc getGroupCalc(int groupId){
         if(groupCalcList == null){
             groupCalcList = groupCalcMapper.selectList(null);
         }
@@ -58,6 +60,13 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
         return null;
     }
 
+    /***
+     * 处理本轮的固定解，求出重心位置。多线程调用，访问成员变量要考虑多线程安全
+     * @param message d341报文
+     * @param completeWhenIdle 是否根据空闲时间判断本轮结束。是则启动30s定时器；否则需显示调用SingleDone函数
+     * @return
+     */
+
     @Override
     public double[] calcSingle(D341LocationMessage message, boolean completeWhenIdle) {
         String deviceId = message.getId();
@@ -229,7 +238,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
     }
 
     public void refreshGroupCalc(){
-        groupCalcList.clear();
+        if(groupCalcList!=null) groupCalcList.clear();
         groupCalcList = groupCalcMapper.selectList(null);
         calculatorMap.clear();
         logger.info("group paras changed");
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
index f2bd753e..d5d30406 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
@@ -9,9 +9,9 @@ import org.springframework.stereotype.Service;
 
 import javax.annotation.PostConstruct;
 import java.time.LocalDateTime;
-import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
 
 @Service
 public class WarningServiceImpl implements WarningService {
@@ -23,7 +23,7 @@ public class WarningServiceImpl implements WarningService {
     GnssStatusMapper gnssStatusMapper;
 
     // warning type <-> level & value
-    Map<Integer, int[]> cfgMap = new HashMap<>();
+    Map<Integer, int[]> cfgMap = new ConcurrentHashMap<>();
     int warningLevel2Code = 0;
 
     @PostConstruct