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 5d67de19..52a1e2f2 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
@@ -64,20 +64,23 @@ public class GNSSCalcFilterService {
     public boolean isGoodGnssData(GnssCalcData newRecord, double[] referPos, List<GnssCalcData> gnssHistoryRecords,
                                   float xyThreshold, float zThreshold, boolean isAdvFilter) {
         boolean isGood = true;
-        if(referPos == null) {
-            logger.info("bad point");
-            return false;
-        }
+
         // 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) {
-            isGood = false;
+            return false;
         }
-        else if (Math.abs(newRecord.getB562e() - referPos[0]) > xyThreshold ||
+        if(referPos==null && record0!=null) {
+            referPos = new double[]{record0.getB562e(), record0.getB562n(), record0.getB562d()};
+        }
+        if(referPos==null) return false;
+
+        if (Math.abs(newRecord.getB562e() - referPos[0]) > xyThreshold ||
                 Math.abs(newRecord.getB562n() - referPos[1]) > xyThreshold ||
                 Math.abs(newRecord.getB562d() - referPos[2]) > zThreshold) {
-            logger.info("{},{},{} bad point",newRecord.getB562e()- referPos[0],newRecord.getB562n()- referPos[1],newRecord.getB562d()- referPos[2]);
+            logger.debug("{} bad point,delta: {},{},{} ",newRecord.getDeviceid(),
+                    newRecord.getB562e()- referPos[0],newRecord.getB562n()- referPos[1],newRecord.getB562d()- referPos[2]);
             isGood = false; //记录为坏点，下次不参与滤波
         }
         else if(isAdvFilter){
@@ -87,7 +90,7 @@ public class GNSSCalcFilterService {
                     Math.abs(newRecord.getB562e() - record1.getB562e()) > xyThreshold*2 ||
                     Math.abs(newRecord.getB562n() - record1.getB562n()) > xyThreshold*2 ||
                     Math.abs(newRecord.getB562d() - record1.getB562d()) > zThreshold*2) {
-                logger.info("bad point");
+                logger.debug("{} adv filter bad point",newRecord.getDeviceid());
                 isGood = false; //记录为坏点，下次不参与滤波
             }
         }
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 b9223069..78551853 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
@@ -210,21 +210,23 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
                 if(focusCalculator2.isReferPointFiltered()) {
                     if (locationRecord.getEnabled() && locationRecord.getRpose() != null) {
                         focusCalculator2.setReferPoint(new double[]{locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd()});
-                        logger.info("set reference pos to filter result:{},{},{}", locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd());
+                        logger.info("{} set reference pos to filter result:{},{},{}",
+                                deviceId, locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd());
                     }
                     else{
-                        logger.info("reference pos not changed");
+                        logger.info("{} reference pos not changed",deviceId);
                     }
                 }
                 else{
                     // 查询设备有没有配置初始位置
                     if(device.getIPose()!=null){
                         focusCalculator2.setInitReferPoint(new double[]{device.getIPose(),device.getIPosn(),device.getIPosd()});
-                        logger.info("set reference pos to init pos:{},{},{}",device.getIPose(),device.getIPosn(),device.getIPosd());
+                        logger.info("{} set reference pos to init pos:{},{},{}",
+                                deviceId,device.getIPose(),device.getIPosn(),device.getIPosd());
                     }
                     else{
                         focusCalculator.setReferPoint(b562Result);
-                        logger.info("set reference pos to b562 result");
+                        logger.info("{} set reference pos to b562 result",deviceId);
                     }
                 }
             }