diff --git a/NeoTracker/src/Arith_PosAnalyse.cpp b/NeoTracker/src/Arith_PosAnalyse.cpp
new file mode 100644
index 0000000..67a0946
--- /dev/null
+++ b/NeoTracker/src/Arith_PosAnalyse.cpp
@@ -0,0 +1,75 @@
+#include "Arith_PosAnalyse.h"
+
+ImagePosRecord::ImagePosRecord()
+{
+	reset();
+}
+
+ImagePosRecord::~ImagePosRecord()
+{
+}
+
+
+ImagePosRecord::STATUS ImagePosRecord::update(POINT32F pos)
+{
+	if (p_Last.x == 0 && p_Last.y == 0)
+	{
+		stPositonMove[ubEnd].x = 0;
+		stPositonMove[ubEnd].y = 0;
+	}
+	else
+	{
+		stPositonMove[ubEnd].x = pos.x - p_Last.x;
+		stPositonMove[ubEnd].y = pos.y - p_Last.y;
+	}
+
+	p_Last = pos;
+	ubEnd = (ubEnd + 1) % TRACK_POS_REC_MAX;
+	nTotalCnt++;
+
+	return Analyse();
+}
+
+void ImagePosRecord::reset()
+{
+	ubEnd = 0;
+	nTotalCnt = 0;
+	p_Last.x = 0;
+	p_Last.y = 0;
+	memset(stPositonMove, 0, sizeof(POINT32F) * TRACK_POS_REC_MAX);
+}
+
+
+ImagePosRecord::STATUS ImagePosRecord::Analyse()
+{
+	// 
+	int VecFluCnt = 0; //速度波动
+	int aFluCnt = 0;   //加速度波动
+
+	if (nTotalCnt > 10)
+	{
+		for (size_t i = 0; i < MIN(TRACK_POS_REC_MAX, nTotalCnt); i++)
+		{
+			int indCurr = (ubEnd - i + TRACK_POS_REC_MAX) % TRACK_POS_REC_MAX;
+			int indLast = (ubEnd - i - 1 + TRACK_POS_REC_MAX) % TRACK_POS_REC_MAX;
+			auto movedisCurr = sqrt(stPositonMove[indCurr].x * stPositonMove[indCurr].x + stPositonMove[indCurr].y * stPositonMove[indCurr].y);
+			auto movedisLast = sqrt(stPositonMove[indLast].x * stPositonMove[indLast].x + stPositonMove[indLast].y * stPositonMove[indLast].y);
+			if (movedisCurr > 6)
+			{
+				VecFluCnt++;
+			}
+
+			if (ABS(movedisCurr) > ABS(movedisLast) * 2 && ABS(movedisCurr) > 5)
+			{
+				aFluCnt++;
+			}
+		}
+	}
+
+	if (VecFluCnt > 2 || aFluCnt > 0)
+	{
+		return STATUS::NOTSTABLE;
+	}
+
+	return STATUS::STATBLE;
+}
\ No newline at end of file
diff --git a/NeoTracker/src/Arith_PosAnalyse.h b/NeoTracker/src/Arith_PosAnalyse.h
new file mode 100644
index 0000000..f743a91
--- /dev/null
+++ b/NeoTracker/src/Arith_PosAnalyse.h
@@ -0,0 +1,36 @@
+// 目标像方位置记录，并估计伺服控制状态，不稳定时不使用惯性预测
+
+
+#pragma once
+
+#include "Arith_Common.hpp"
+
+
+class ImagePosRecord
+{
+    enum STATUS
+    {
+        STATBLE,
+        NOTSTABLE
+    };
+public:
+    ImagePosRecord();
+    ~ImagePosRecord();
+
+public:
+    STATUS update(POINT32F pos); // 更新坐标
+
+    void reset();
+
+    STATUS Analyse();
+
+private:
+    UBYTE8          ubEnd;
+    SINT32          nTotalCnt;
+    POINT32F stPositonMove[TRACK_POS_REC_MAX]; //帧间运动
+
+    POINT32F        p_Last;   //起始点
+
+    // 
+    BBOOL bStable;  //稳态
+};
\ No newline at end of file
diff --git a/NeoTracker/src/Arith_SkyTracker.cpp b/NeoTracker/src/Arith_SkyTracker.cpp
index 80ca2e4..19fd8fa 100644
--- a/NeoTracker/src/Arith_SkyTracker.cpp
+++ b/NeoTracker/src/Arith_SkyTracker.cpp
@@ -362,6 +362,9 @@ TrackUnlockState SkyTracker::Track(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input,
     {
         // 自动切换跟踪器
         SetTrackModeAuto(img, p_GLB_Input);
+        
+        // 调整惯性预测建议
+        m_posRecorder.update(m_TSky_Output.ObjectStatusDesc.ptPos);
 
         // 小面跟踪目标及背景监控
         if (pSATracker && mTrakingPara.Sky_bEnableTrackSA)
@@ -520,6 +523,8 @@ void SkyTracker::Cancle()
     memset(&m_TSky_Output.ObjectStatusKCF, 0, sizeof(OBJECTSTATUS));
     memset(&m_TSky_Output.ObjectStatusDesc, 0, sizeof(OBJECTSTATUS));
 
+    m_posRecorder.reset();
+
 }
 
 void SkyTracker::SetMemTrack(bool bMemFlag)
@@ -918,7 +923,7 @@ void SkyTracker::SetTrackModeAuto(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input)
         }
 #endif       
 
-        if (nCount >= GLB_TRACK_SMALL2FACE_THRES && bFindAreaTarget) //以338A对空抗干扰数据--双机小目标交错为例
+        if (nCount >= GLB_TRACK_SMALL2FACE_THRES || bFindAreaTarget) //以338A对空抗干扰数据--双机小目标交错为例
         {
             crfCandiRect.cx = pObjStatus->ptPos.x;
             crfCandiRect.cy = pObjStatus->ptPos.y;
@@ -1311,4 +1316,5 @@ void SkyTracker::SkyTrackFalse_Process(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_In
             SkyTrkStatusInfo.nAbnormalCnt += 1;
         }
     }
-}
\ No newline at end of file
+}
+
diff --git a/NeoTracker/src/Arith_SkyTracker.h b/NeoTracker/src/Arith_SkyTracker.h
index 9dbec14..aff26ad 100644
--- a/NeoTracker/src/Arith_SkyTracker.h
+++ b/NeoTracker/src/Arith_SkyTracker.h
@@ -9,7 +9,7 @@
 #include "Matcher/Fast_Matcher.h"
 #include "Arith_RadarInfo.h"
 #include "Arith_AIDMonitor.h"
-
+#include "Arith_PosAnalyse.h"
 // 决策行为
 enum Act
 {
@@ -107,6 +107,11 @@ typedef struct tagPipeMainStatusInfo
     SINT32          nAbnormalCnt;                               // 异常次数累计
 }PipeMainStatusInfo;
 
+
+
+
+
+
 class SkyTracker
 {
 public:
@@ -181,6 +186,7 @@ public:
 
     // 产生决策
     DecPolicy Decision(GD_VIDEO_FRAME_S img);
+
     // KCF+CEND决策处理
     DecPolicy TO_TrackDecisionOf_KCF_CEND(GD_VIDEO_FRAME_S img);
 
@@ -233,6 +239,9 @@ private:
     void SkyTrackFalse_Process(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, OBJECTSTATUS* ObjStatus, PIPE* m_LockingPipe);
 private:
 
+    ImagePosRecord m_posRecorder; //pos统计
+
+
     bool bsvmInitDone;//
 
     PipeMainClassifyInfo* pipeClassifyInfo;   // 主跟踪管道对应的信息缓存，用于在告警操作中进行类别确认
diff --git a/NeoTracker/src/Arith_TrackSAObj.cpp b/NeoTracker/src/Arith_TrackSAObj.cpp
index babc09c..43627f2 100644
--- a/NeoTracker/src/Arith_TrackSAObj.cpp
+++ b/NeoTracker/src/Arith_TrackSAObj.cpp
@@ -70,6 +70,8 @@ SA_Tracker::SA_Tracker(int nWidth, int nHeight)
     memset(nSimTargetNum_Counter, -1, GLB_SIMOBJ_VALID_CNT * sizeof(SINT32));
 
     SATrkState = LockStateUnknown;      // 小面记忆跟踪状态跟踪
+
+    
 }
 
 
@@ -204,9 +206,14 @@ int SA_Tracker::Track(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, API_MOT_PIPE
     SINT32 nRealPipeNum = g_GLB_PipeProc->PIPE_GetAlarmNum();
     SINT32 m_nMaxPipeNum = g_GLB_PipeProc->PIPE_GetMaxPipeNum();
     SINT32 nPipeRadiusTrack = g_GLB_PipeProc->GetParam().nPipeRadiusTrack;
-
+    SINT32 nPipeRaduisLost = g_GLB_PipeProc->GetParam().nPipeRadiusLost;
+    PIPE_PARAMETERS MOT_PARA = g_GLB_PipeProc->GetParam();
     nTrackTargetID = -1;
 
+    // 同步管道参数
+    m_TSA_Param.nPipeRadiusTrack = nPipeRadiusTrack;
+    m_TSA_Param.nPipeRadiusLost = nPipeRaduisLost;
+
     //调整搜索区域大小，为分块宽高的整数倍
     SetAutoSearchZone(nWidth, nHeight, p_GLB_Input);
 
@@ -399,7 +406,7 @@ SINT32 SA_Tracker::getInterfereAreaTargteNum(RECT32S bbox)
        TARGET_OBJECT* pObj =  &pDAT_Module->GetTargetArray()[i];
 
        if (ABS(pObj->pfCenPos.x - nX) < MAX(50, bbox.w * 3) &&
-           ABS(pObj->pfCenPos.x - nY) < MAX(50, bbox.h * 3))
+           ABS(pObj->pfCenPos.y - nY) < MAX(50, bbox.h * 3))
        {
            nNum++;
        }
@@ -438,8 +445,6 @@ void SA_Tracker::SetAutoSearchZone(SINT32 nWidth, SINT32 nHeight, GLB_INPUT* p_G
 
     // 伺服太晃，直接使用短时预测。
     nEnd = m_LockingPipe->ubEnd;
-    pPipe->ptCurrentPnt.x = pPipe->stMotionMod_mean.crnObjPrediRtNear.cx;
-    pPipe->ptCurrentPnt.y = pPipe->stMotionMod_mean.crnObjPrediRtNear.cy;
 
     // 取长时预测点作为管道当前位置预测
     if (PIPE_EVENT_JUST_LOCK == m_LockingPipe->ubEventStatus)
@@ -454,7 +459,6 @@ void SA_Tracker::SetAutoSearchZone(SINT32 nWidth, SINT32 nHeight, GLB_INPUT* p_G
     }
 
 
-
     //判断管道目标是否超出视场
     //if (IMGO_IsPoint16SOutImg(nWidth, nHeight, pPipe->ptCurrentPnt))
     if(IMGO_IsPoint32FOutImg(nWidth, nHeight, ptCurrentPnt))
@@ -630,6 +634,8 @@ void SA_Tracker::SARegionDet(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, SINT3
     DAT_PARAMETERS* pDAT_stPara = pDAT_Module->GetDatParm();
     SINT32 nObjCombineDist = pDAT_stPara->nObjCombineDist;
     FilterMeanNL stMotionMod_mean = m_LockingPipe->stMotionMod_mean;    // 使用运动模型
+    TARGET_OBJECT* trackTarget = &m_LockingPipe->objHistoryList[m_LockingPipe->ubEnd];//跟踪最近的目标
+
     //////////////////////////////////////////////////////////////////////////
     //////////////////////////小面目标检测////////////////////////////////////
     BBOOL bEnableAreaObjDetect = FALSE;
@@ -670,6 +676,12 @@ void SA_Tracker::SARegionDet(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, SINT3
 
         pDST_Module->SetCombinDist(nCombinDist);
 
+        // 首次挑选使用自适应SNR阈值，尽量避免低SNR阈值下虚警
+        if (trackTarget->fSNR > 9)
+        {
+            pDST_Module->SetDetSnr(MAX(trackTarget->fSNR * 0.5, 4.0f));
+        }
+
         SINT32 nSmallTargetNum = pDST_Module->Detect(img, m_TSA_Input.crCenterRect, GLB_STATUS_TRACK);
         // 小目标可以开面目标检测
         if (bEnableAreaObjDetect)
@@ -698,8 +710,8 @@ void SA_Tracker::SARegionDet(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, SINT3
     //小、面目标原地合并
     m_nTargetNum = MergeSmallAndAreaTarget(m_Target_Array, nSmallTargetNum, nCpNum, nCombinDist, GLB_STATUS::GLB_STATUS_TRACK);
     // 小面目标检测信息使用后重置，为了提高效率这里只重置个数
-    pDST_Module->SetTargetNum(0);
-    pDAT_Module->SetTargetNum(0);
+    //pDST_Module->SetTargetNum(0);
+    //pDAT_Module->SetTargetNum(0);
 
 
     //////////////////////////////////////////////////////////////////////////
@@ -1178,7 +1190,7 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
     //局部变量
     FLOAT32 fSim = 0.0f; //目标相似度
     FLOAT32 fSimMax = -1.0f;//目标相似度最大值
-    FLOAT32 fSimThres = 0.2f; //相似度阈值
+    FLOAT32 fSimThres = 0.5f; //相似度阈值
     SINT32  nFrmsStep = 1;    //帧间隔
     TARGET_OBJECT* ptMainTarget = NULL; //主管道目标
     TARGET_OBJECT* ptTarget = NULL; //候选目标
@@ -1238,6 +1250,7 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
     //    fApparentModelWeight = 0.0;
     //}
 
+
     //统计所有当前帧目标与管道目标的灰度、与中心距离、信噪比差异
     for (int i = 0; i < nFrmObjsCnt; i++)
     {
@@ -1371,17 +1384,17 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
     }
 
 
-    // 小目标特殊处理
+    //// 小目标特殊处理
     if (pPipe->ObjectFilter.fPxlsCnt < 9)
     {
         fSScaleChangeLowThres = 0.3;
         fSScaleChangeHighThres = 3.f;
         fAScaleChangeLowThres = 0.5;
         fAScaleChangeHighThres = 2.0;
-        nLastDiffThresX = MAX(nMoveMin, 6);
-        nLastDiffThresY = MAX(nMoveMin, 6);
-        nPredictDiffThresX = MAX(nFThreMin, 12);
-        nPredictDiffThresY = MAX(nFThreMin, 12);
+        nLastDiffThresX = MAX(nMoveMin, 4);
+        nLastDiffThresY = MAX(nMoveMin, 4);
+        nPredictDiffThresX = MAX(nFThreMin, 6);
+        nPredictDiffThresY = MAX(nFThreMin, 6);
     }
 
 
@@ -1435,22 +1448,13 @@ SINT32 SA_Tracker::FindMatchTarget(PIPE* pPipe, TARGET_OBJECT* ptTargetArray, SI
 
             nLastDiffThresX = MAX(ptTarget->snSize.w / 2, nLastDiffThresX);
             nLastDiffThresY = MAX(ptTarget->snSize.h / 2, nLastDiffThresY);
-            //if (g_GLB_stPara->nWorkScene == GLB_WATCH_SKY)
-            //{
-            //    nPredictDiffThres = 70;
-            //    nLastDiffThres = 15;
-            //}
 
-            //if (g_GLB_stPara->nWorkScene == GLB_WATCH_GROUND)
-            //{
-            //    nPredictDiffThres = 5;
-            //    nLastDiffThres = 5;
-            //}
 
             // 非初始锁定阶段执行运动距离强逻辑
             //小目标情况下，周围可能检测出干扰的相似目标（真正的目标无法检出），需要强逻辑限定
             //面目标情况下，单个目标允许大范围关联，关闭距离限定；非单个目标限定关联距离
-            if (PIPE_EVENT_JUST_LOCK != m_LockingPipe->ubEventStatus && 
+            if (/*PIPE_EVENT_JUST_LOCK != m_LockingPipe->ubEventStatus && */
+                m_LockingPipe->stMotionMod_mean.bTrackStable &&
                  m_SizeMode <= SizeType::SmallTarget || (m_SizeMode >= SizeType::MiddleTarget && !bSingleTarget))
             {
                 if ((ABS(ptTarget->pfCenPos.x - stMotionMod_mean.crnObjPrediRtLong.cx) > MAX(ABS(fAzSpeed) * 2, nPredictDiffThresX)
@@ -1799,12 +1803,12 @@ SINT32 SA_Tracker::FindMatchPipe(SINT32 nWidth, SINT32 nHeight, PIPE* pLockingPi
     FLOAT32 fThres = fSimThres;
     if (bSingleTarget)
     {
-        fThres = 0.1f;//没有底线的跟踪
-        // 超过10帧丢失，降低阈值搜索
-        if (m_ObjStatus.unContiLostCnt >= 10)
-        {
-            fThres = 0.1f;
-        }
+        fThres = 0.0f;//没有底线的跟踪
+        //// 超过10帧丢失，降低阈值搜索
+        //if (m_ObjStatus.unContiLostCnt >= 10)
+        //{
+        //    fThres = 0.1f;
+        //}
 
     }
     else
@@ -2098,8 +2102,8 @@ void SA_Tracker::UpdateObject2Tracker(TARGET_OBJECT* pTarget, GLB_INPUT* p_GLB_I
 
         //仅使用长时预测更新目标位置
         pObjStatus->ptPosPre = pObjStatus->ptPos;
-        pObjStatus->ptPos.x = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cx;
-        pObjStatus->ptPos.y = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cy;
+        pObjStatus->ptPos.x = m_LockingPipe->ptCurrentPnt.x; //使用管道预测位置
+        pObjStatus->ptPos.y = m_LockingPipe->ptCurrentPnt.y;
         pObjStatus->ptPosFilter = pObjStatus->ptPos;
         SATrkState = Locked_Losting;
 
diff --git a/NeoTracker/src/Arith_TrackSAObj.h b/NeoTracker/src/Arith_TrackSAObj.h
index 1ce5fa4..d50fec7 100644
--- a/NeoTracker/src/Arith_TrackSAObj.h
+++ b/NeoTracker/src/Arith_TrackSAObj.h
@@ -135,6 +135,8 @@ struct TSA_Parameters
     UINT16  nUseAIDetFeq;   //使用AI管道更新频率
 
     BBOOL	bEnableSecDetect;//小目标二次检测开关
+
+    BBOOL   bEnableGeoPredict;//允许惯性预测开关。
 };
 
 
diff --git a/NeoTracker/src/Arith_Tracker.cpp b/NeoTracker/src/Arith_Tracker.cpp
index 3e72c19..65c71bb 100644
--- a/NeoTracker/src/Arith_Tracker.cpp
+++ b/NeoTracker/src/Arith_Tracker.cpp
@@ -150,13 +150,21 @@ bool Tracker::Track(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, API_MOT_PIPE*
 	// 基于窗口平均计算管道长短时预测点
 	Predict_ObjAglTrackPredict(&m_LockingPipe->stMotionMod_mean, img.u32Width, img.u32Height, p_GLB_Input);
 
-	//m_LockingPipe->afCurrentAgl = m_LockingPipe->stMotionMod_mean.ObjAglListsLong.arfFilter.afAngle;
-	//m_LockingPipe->ptCurrentPnt.x = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cx;
-	//m_LockingPipe->ptCurrentPnt.y = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cy;
 
-	m_LockingPipe->afCurrentAgl = m_LockingPipe->stMotionMod_mean.ObjAglListsNear.arfFilter.afAngle;
-	m_LockingPipe->ptCurrentPnt.x = m_LockingPipe->stMotionMod_mean.crnObjPrediRtNear.cx;
-	m_LockingPipe->ptCurrentPnt.y = m_LockingPipe->stMotionMod_mean.crnObjPrediRtNear.cy;
+	if (m_LockingPipe->stMotionMod_mean.bTrackStable)
+	{
+		m_LockingPipe->afCurrentAgl = m_LockingPipe->stMotionMod_mean.ObjAglListsLong.arfFilter.afAngle;
+		m_LockingPipe->ptCurrentPnt.x = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cx;
+		m_LockingPipe->ptCurrentPnt.y = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cy;
+	}
+	else
+	{
+		m_LockingPipe->afCurrentAgl = m_LockingPipe->stMotionMod_mean.ObjAglListsNear.arfFilter.afAngle;
+		m_LockingPipe->ptCurrentPnt.x = m_LockingPipe->stMotionMod_mean.crnObjPrediRtNear.cx;
+		m_LockingPipe->ptCurrentPnt.y = m_LockingPipe->stMotionMod_mean.crnObjPrediRtNear.cy;
+	}
+
+
 	
 	// 跟踪找到目标
 	if (m_type == GLB_SCEN_MODE::GLB_SCEN_SKY)
@@ -196,9 +204,9 @@ SINT32 Tracker::MemTrack(GD_VIDEO_FRAME_S img, GLB_INPUT* p_GLB_Input, API_MOT_P
 	// 基于窗口平均计算管道长短时预测点
 	Predict_ObjAglTrackPredict(&m_LockingPipe->stMotionMod_mean, img.u32Width, img.u32Height, p_GLB_Input);
 
-	m_LockingPipe->afCurrentAgl = m_LockingPipe->stMotionMod_mean.ObjAglListsLong.arfFilter.afAngle;
-	m_LockingPipe->ptCurrentPnt.x = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cx;
-	m_LockingPipe->ptCurrentPnt.y = m_LockingPipe->stMotionMod_mean.crnObjPrediRtLong.cy;
+	m_LockingPipe->afCurrentAgl = m_LockingPipe->stMotionMod_mean.ObjAglListsNear.arfFilter.afAngle;
+	m_LockingPipe->ptCurrentPnt.x = m_LockingPipe->stMotionMod_mean.crnObjPrediRtNear.cx;
+	m_LockingPipe->ptCurrentPnt.y = m_LockingPipe->stMotionMod_mean.crnObjPrediRtNear.cy;
 
 	// 跟踪找到目标
 	if (m_type == GLB_SCEN_MODE::GLB_SCEN_SKY)
diff --git a/NeoTracker/src/Common/Arith_AglPredict.cpp b/NeoTracker/src/Common/Arith_AglPredict.cpp
index 2c987e9..03ff8bd 100644
--- a/NeoTracker/src/Common/Arith_AglPredict.cpp
+++ b/NeoTracker/src/Common/Arith_AglPredict.cpp
@@ -200,7 +200,7 @@ void Predict_ObjAglTrackPredict(FilterMeanNL* pFilter, SINT32 nWidth, SINT32 nHe
 		pFilter->nObjPredictFarCnt = 0;
 		pFilter->bObjPredictAbnormal = FALSE;
 	}
-	if (pFilter->nObjPredictFarCnt > 5
+	if (pFilter->nObjPredictFarCnt > 3
 		&& fNLDist2 > nNLDist2Thres)
 	{
 		pFilter->bObjPredictAbnormal = TRUE;
diff --git a/NeoTracker/src/Common/Arith_SysStruct.h b/NeoTracker/src/Common/Arith_SysStruct.h
index 78d885c..23e9932 100644
--- a/NeoTracker/src/Common/Arith_SysStruct.h
+++ b/NeoTracker/src/Common/Arith_SysStruct.h
@@ -92,6 +92,8 @@
 
 #define TRACK_STATUS_DEPTH_MAX      50    //目标状态监控最大深度
 
+#define TRACK_POS_REC_MAX          20    // 目标像方坐标记录深度
+
 
 #define GLB_GROUP_NUM_MAX           5      //组的最大个数
 #define GLB_GROUP_PIPENUM_MAX       3      //组包含的管道个数（只支持3个合并）
@@ -681,6 +683,7 @@ typedef struct tagFilterMeanNL
     SINT32  nObjTrackLostCntNear;   //目标短时轨迹预测失败帧数
     SINT32  nObjTrackLostCntLong;   //目标长时轨迹预测失败帧数
     SINT32  nAbnormalCnt;           //跟踪异常计数器（连续---坏点
+    BBOOL   bTrackStable;           //跟踪稳态判断
 }FilterMeanNL;
 
 
diff --git a/NeoTracker/src/Detect/API_DetectSAObj.h b/NeoTracker/src/Detect/API_DetectSAObj.h
index f114227..cc5fe4f 100644
--- a/NeoTracker/src/Detect/API_DetectSAObj.h
+++ b/NeoTracker/src/Detect/API_DetectSAObj.h
@@ -179,6 +179,9 @@ public:
         //		设置小目标合并距离
     virtual void        SetCombinDist(SINT32 ndistance) = 0;
 
+    //          设置检测基础阈值
+    virtual void        SetDetSnr(FLOAT32 fSNR) = 0;
+
     //			获取小目标检测队列
     virtual TARGET_OBJECT* GetTargetArray() = 0;
 
diff --git a/NeoTracker/src/Detect/Arith_DetectAreaObj.cpp b/NeoTracker/src/Detect/Arith_DetectAreaObj.cpp
index c26c609..638052a 100644
--- a/NeoTracker/src/Detect/Arith_DetectAreaObj.cpp
+++ b/NeoTracker/src/Detect/Arith_DetectAreaObj.cpp
@@ -1824,8 +1824,8 @@ SINT32 DetectAreaObj::DAT_ObjsSegmentation(UINT16* pFrame, UBYTE8* pnGrayBinary,
 
                 //MSSu, 20150514: 弱目标检测时，灰度、梯度二值点取并集，否则取交集
                 BBOOL bSeedPt = FALSE;
-                if (DAT_FLAG_BINARY == pnGrayBinary[nIndex]
-                    && DAT_FLAG_BINARY == pnGradBinary[nIndex]
+                if ((DAT_FLAG_BINARY == pnGrayBinary[nIndex]
+                    || DAT_FLAG_BINARY == pnGradBinary[nIndex])
                     && DAT_FLAG_CONNECTED != pnFlagHasSr[nIndex])
                 {
                     bSeedPt = TRUE;
diff --git a/NeoTracker/src/Detect/Arith_DetectSmallObj.cpp b/NeoTracker/src/Detect/Arith_DetectSmallObj.cpp
index 7ae4ccd..0b74255 100644
--- a/NeoTracker/src/Detect/Arith_DetectSmallObj.cpp
+++ b/NeoTracker/src/Detect/Arith_DetectSmallObj.cpp
@@ -52,6 +52,28 @@ SINT32 g_DST_nFilter_5_9[DST_KERNAL_SIZE_5_9] =
 };
 
 
+SINT32 g_DST_nFilter_13_17[DST_KERNAL_SIZE_13_17] =
+{
+    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+    1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1
+};
+
+
 
 DetectSmallObj::DetectSmallObj(SINT32 nWidth, SINT32 nHeight)
 {
@@ -130,6 +152,11 @@ void DetectSmallObj::SetTargetNum(SINT32 num)
     m_FrmObjsCnt = num;
 }
 
+void DetectSmallObj::SetDetSnr(FLOAT32 fSNR)
+{
+    m_DST_stPara.fgdk = fSNR;
+}
+
 DST_PARAMETERS* DetectSmallObj::GetDstParm()
 {
     return &m_DST_stPara;
@@ -324,7 +351,7 @@ void DetectSmallObj::DST_Initialization(SINT32 nWidth, SINT32 nHeight, CENTERREC
     m_DST_stPara.fObjWHRatioMax = 5.0f;
     m_DST_stPara.fObjRectRatioMin = 0.2f;
     m_DST_stPara.nBGObjNumThres = 2;
-    m_DST_stPara.nBTGrayMinThres = 5;
+    m_DST_stPara.nBTGrayMinThres = 10;
 
     m_DST_stPara.bDimDetecting = false;
     m_DST_stPara.bEnableDimDetect = false;
@@ -347,10 +374,13 @@ void DetectSmallObj::DST_Initialization(SINT32 nWidth, SINT32 nHeight, CENTERREC
     m_DST_stPara.nDetectGrayType = GLB_OBJ_GRAY_BRIGHT;
 
     // 模板参数
-    m_DST_stPara.pnFilter = g_DST_nFilter_9_13;
-    m_DST_stPara.nFilterBGW = DST_KERNAL_SIZE_Bm_13;
-    m_DST_stPara.nFilterTGW = DST_KERNAL_SIZE_Tm_9;
+    //m_DST_stPara.pnFilter = g_DST_nFilter_9_13;
+    //m_DST_stPara.nFilterBGW = DST_KERNAL_SIZE_Bm_13;
+    //m_DST_stPara.nFilterTGW = DST_KERNAL_SIZE_Tm_9;
 
+    m_DST_stPara.pnFilter = g_DST_nFilter_5_9;
+    m_DST_stPara.nFilterBGW = 9;
+    m_DST_stPara.nFilterTGW = 5;
 
     // 申请内存
     DST_MallocMemory(nWidth, nHeight, mmCenterRect);
diff --git a/NeoTracker/src/Detect/Arith_DetectSmallObj.h b/NeoTracker/src/Detect/Arith_DetectSmallObj.h
index b9e08a9..0ef426e 100644
--- a/NeoTracker/src/Detect/Arith_DetectSmallObj.h
+++ b/NeoTracker/src/Detect/Arith_DetectSmallObj.h
@@ -246,6 +246,11 @@ public:
     //          设置当前帧小目标检测个数
     void      SetTargetNum(SINT32 num);
 
+
+    //          设置检测阈值
+    void        SetDetSnr(FLOAT32 fSNR);
+
+
     //         获取小目标检测参数
     DST_PARAMETERS* GetDstParm();
 
diff --git a/NeoTracker/src/PIPE/Arith_MOT_PipeProc.cpp b/NeoTracker/src/PIPE/Arith_MOT_PipeProc.cpp
index af3a894..e1abdbe 100644
--- a/NeoTracker/src/PIPE/Arith_MOT_PipeProc.cpp
+++ b/NeoTracker/src/PIPE/Arith_MOT_PipeProc.cpp
@@ -652,6 +652,14 @@ void MOT_Pipe::PIPE_UpdatePipes(TARGET_OBJECT* ptTargetArray, SINT32 pnFrmObjsCn
 
             //自适应调节“管道目标没有被找到的次数阈值”
             pPipe->nDelCntThres = MAX(3, pPipe->nDelCntThres);
+
+            // 弱小目标，不容易删除
+            if (pPipe->ObjectFilter.fPxlsCnt < 5)
+            {
+                pPipe->nDelCntThres = 10;
+            }
+
+
             if (pPipe->unLostCnt > (UINT32)pPipe->nDelCntThres)
             {
                 DelPipe(pPipe);
diff --git a/NeoTracker/src/Version.h.in b/NeoTracker/src/Version.h.in
index 81581d3..92ad6d3 100644
--- a/NeoTracker/src/Version.h.in
+++ b/NeoTracker/src/Version.h.in
@@ -3,4 +3,4 @@
 #pragma once
 #include <string>
 std::string BUILD_TIME = "BUILD_TIME @build_time@";
-std::string VERSION = "BUILD_VERSION 1.3.3";
+std::string VERSION = "BUILD_VERSION 1.4.0";
diff --git a/QGuideArithStudio/src/QVideoPlayer.cpp b/QGuideArithStudio/src/QVideoPlayer.cpp
index 13728f9..2ae162e 100644
--- a/QGuideArithStudio/src/QVideoPlayer.cpp
+++ b/QGuideArithStudio/src/QVideoPlayer.cpp
@@ -482,7 +482,7 @@ VideoStream* QVideoPlayer::OpenOneStream(QString lpszFileName)
     {
         pVid = new GDFileStream();
     }
-    else if(extName == "raw" || extName == "xraw" || extName == "rawx" || extName == "yuv")
+    else if(extName == "raw" || extName == "xraw" || extName == "rawx" || extName == "yuv" || extName == "data")
     {
         // 在当前路径下寻找raw文件默认配置
         int first = lpszFileName.lastIndexOf("/");
@@ -638,6 +638,7 @@ void QVideoPlayer::DrawArithResult()
     {
         return;
     }
+
     // 更新指南针
     UpdateCompass(m_stInputPara.stServoInfo.fServoAz, m_stInputPara.stServoInfo.fServoPt);
 
@@ -768,7 +769,6 @@ void QVideoPlayer::DrawTrackersInfo()
     QGraphicsScene* scene = m_ImageViewer->imgScene;
 
     int num = m_stOutput.nTrackObjCnts;
-
     for (size_t i = 0; i < num; i++)
     {
         auto obj = &m_stOutput.stTrackers[i];
@@ -850,6 +850,7 @@ void QVideoPlayer::DrawTrackersInfo()
         {
             str = QString::number(obj->nOutputID);
         }
+
         DrawArtRect(m_ImageViewer, QPen(QColor(255, 0, 0)), bbox, str, false,15, QColor(255,0,0));
 
 
@@ -926,7 +927,7 @@ void QVideoPlayer::DrawTrackersInfo()
             // 查询跟踪阶段目标列表
             DrawFrameRegionDetectObjs();
 
-            // 绘制小目标极值点
+            //// 绘制小目标极值点
             //POINT16S*  pList = ARIDLL_GetSATracker_DSTPoint(m_ArithRunner->pEOTracker, nInPipesID);
 
             //for (size_t i = 0; i < (640 / 16 * 512 / 16) * 2; i++)
@@ -1014,10 +1015,10 @@ void QVideoPlayer::DrawFrameRegionDetectObjs()
 
             int cx = obj->pfCenPos.x;
             int cy = obj->pfCenPos.y;
-            //int w = MAX(15, obj->snSize.w);
-            //int h = MAX(15, obj->snSize.h);
-            int w = obj->snSize.w;
-            int h = obj->snSize.h;
+            int w = MAX(5, obj->snSize.w);
+            int h = MAX(5, obj->snSize.h);
+            //int w = obj->snSize.w;
+            //int h = obj->snSize.h;
             QRectF bbox(cx - w / 2, cy - h / 2, w, h);
             scene->addRect(bbox, QPen(QColor(20, 255, 147), 0.3));
             str = QString::number(obj->fMatchConf, 'f', 2);
@@ -1279,7 +1280,7 @@ void QVideoPlayer::PrintSkyInfo(QString str, QString strShow, ArithHandle hArith
             // 划分为0 - 上、1 - 右上、2 - 右、3 - 右下、4 - 下、5 - 左下、6 - 左、7 - 左上8个背景区域
             auto obj = &mrnBkgBlks[i];
             QRectF bbox(obj->minX, obj->minY, obj->maxX - obj->minX, obj->maxY - obj->minY);
-            scene->addRect(bbox, QPen(QColor(147, 20, 255), 0.3));
+            //scene->addRect(bbox, QPen(QColor(147, 20, 255), 0.3));
         }
 
         TSky_Output* pSky_Output = GetSkyTrackerObjectStatus(pEOTracker, obj->nInPipesID);