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 874ae472..1f69681a 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
@@ -63,9 +63,6 @@ public class GNSSCalcFilterService {
 
     public boolean isGoodGnssData(GnssCalcData newRecord, double[] referPos, List<GnssCalcData> gnssHistoryRecords,
                                   float xyThreshold, float zThreshold, boolean isAdvFilter) {
-        boolean isGood = true;
-
-        // 检查是不是坏点
         GnssCalcData record0 = null;
         if(gnssHistoryRecords.size()>0) record0 = gnssHistoryRecords.get(0);
 
@@ -75,51 +72,28 @@ public class GNSSCalcFilterService {
         if(Math.abs(record0.getB562e() - newRecord.getB562e())<0.001) {
             return false;
         }
-        //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());
-        }
-        // 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){
+
+        // 和最近一个滤波值相比，判断是否是好点
+        boolean isGood =(referPos!=null && (Math.abs(newRecord.getB562e() - referPos[0]) <= xyThreshold &&
+                Math.abs(newRecord.getB562n() - referPos[1]) <= xyThreshold &&
+                Math.abs(newRecord.getB562d() - referPos[2]) <= zThreshold));
+        logger.debug("{} point judge {}",newRecord.getDeviceid(), isGood);
+        //如果和参考点比无效，则和上一个点相比
+        if(!isGood) {
+            isGood =(Math.abs(newRecord.getB562e() - record0.getB562e()) <= xyThreshold &&
+                    Math.abs(newRecord.getB562n() - record0.getB562n()) <= xyThreshold &&
+                    Math.abs(newRecord.getB562d() - record0.getB562d()) <= zThreshold);
+            // 如果是好点，对于增强算法还需和前2个比较
+            if(isGood && isAdvFilter){
                 GnssCalcData record1 = null;
                 if (gnssHistoryRecords.size() > 1) record1 = gnssHistoryRecords.get(1);
                 isGood =(record1 == null ||
-                        ((Math.abs(newRecord.getB562e() - record1.getB562e()) <= xyThreshold &&
+                        (Math.abs(newRecord.getB562e() - record1.getB562e()) <= xyThreshold &&
                         Math.abs(newRecord.getB562n() - record1.getB562n()) <= xyThreshold &&
-                        Math.abs(newRecord.getB562d() - record1.getB562d()) <= zThreshold)));
+                        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) {
-            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){
-            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.getB562n() - record1.getB562n()) > xyThreshold*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;
     }
 
@@ -336,7 +310,7 @@ public class GNSSCalcFilterService {
                     groupCalc.getXy_threshold(), groupCalc.getZ_threshold(), groupCalc.getAdv_filter());
             repository.updateById(calcData);
             lastTime = calcData.getCreatetime();
-            referPos = new double[]{calcData.getB562e(), calcData.getB562n(), calcData.getB562d()};
+            referPos = new double[]{calcData.getRpose(), calcData.getRposn(), calcData.getRposd()};
         }
         return lastTime;
     }
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 caa578e1..9dc8101e 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
@@ -215,7 +215,8 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
             // pps
             locationRecord.setPps(focusCalculator.getAvgDelayMs());
             // 滤波后的结果
-            gnssCalcFilterService.calc(device, groupCalc, locationRecord, referPos);
+            double[] latestRpos = getLatestRpos(deviceId);
+            gnssCalcFilterService.calc(device, groupCalc, locationRecord, latestRpos);
             
             // 记录本次位置，作为下次的参考
             // 算法1：以上轮位置作为参考，跟随变化速度快
@@ -226,8 +227,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
                             new double[]{locationRecord.getRpose(),locationRecord.getRposn(),locationRecord.getRposd()});
                 }
                 else if(focusCalculator.getReferPoint() == null){
-                    double[] latestPos = getLatestPos(deviceId);
-                    if(latestPos != null) focusCalculator.setReferPoint(latestPos);
+                    if(latestRpos != null) focusCalculator.setReferPoint(latestRpos);
                     else focusCalculator.setReferPoint(b562Result);
                 }
             }
@@ -292,7 +292,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
         logger.info("device paras changed");
     }
 
-    double[] getLatestPos(String deviceId){
+    double[] getLatestRpos(String deviceId){
         QueryWrapper<GnssCalcData> queryWrapper = new QueryWrapper<>();
         queryWrapper.eq("deviceid",deviceId);
         queryWrapper.ge("createtime",LocalDateTime.now().minusHours(12));