diff --git a/HC_planeLocalization_test/HC_planeLocalization_test.cpp b/HC_planeLocalization_test/HC_planeLocalization_test.cpp
index b488fbf..7cc40fb 100644
--- a/HC_planeLocalization_test/HC_planeLocalization_test.cpp
+++ b/HC_planeLocalization_test/HC_planeLocalization_test.cpp
@@ -543,22 +543,24 @@ SSX_planeParkingParam _readParkingPara(char* fileName)
 
 #define TEST_COMPUTE_GROUND_PARA		0
 #define TEST_COMPUTE_POSITION			1
-#define TEST_GROUP 1
+#define TEST_GROUP 3
 int main()
 {
 	const char* dataPath[TEST_GROUP] = {
 		"F:/ShangGu/项目/水木宏创/停机位停靠引导/数据/20260613_144419-波音737/",  //0
+		"F:/ShangGu/项目/水木宏创/停机位停靠引导/中心线锥桶数据/",  //1
+		"F:/ShangGu/项目/水木宏创/停机位停靠引导/数据/现场数据/0729夜晚雷达采集数据/", //2
 	};
 
 	SVzNLRange fileIdx[TEST_GROUP] = {
-		{1,43},
+		{1,43}, {1,10}, {1, 145}
 	};
 
 	const char* ver = wd_PlaneLocalizationVersion();
 	printf("ver:%s\n", ver);
 
 #if TEST_COMPUTE_GROUND_PARA
-	int cvtGrp = 0;
+	int cvtGrp = 2;
 	char _calib_datafile[256];
 	sprintf_s(_calib_datafile, "%sLaserData_1.txt", dataPath[cvtGrp]);
 	std::vector<std::vector< SVzNL3DPosition>> scanData;
@@ -608,7 +610,7 @@ int main()
 #endif
 
 #if TEST_COMPUTE_POSITION
-	for (int grp = 0; grp < TEST_GROUP; grp++)
+	for (int grp = 2; grp < TEST_GROUP; grp++)
 	{
 		SSG_planeCalibPara groundCalibPara;
 		//初始化成单位阵
@@ -633,7 +635,7 @@ int main()
 
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
-			//fidx =31;
+			//fidx =32;
 			char _scan_file[256];
 			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
 
@@ -648,9 +650,9 @@ int main()
 
 			SSG_treeGrowParam growParam;
 			growParam.maxLineSkipNum = 10;
-			growParam.yDeviation_max = 300.0;
-			growParam.maxSkipDistance = 300.0;
-			growParam.zDeviation_max = 300.0;// 
+			growParam.yDeviation_max = 2000.0;// 300.0;
+			growParam.maxSkipDistance = 2000.0; // 300.0;
+			growParam.zDeviation_max = 2000.0; // 300.0;// 
 			growParam.minLTypeTreeLen = 500; //mm
 			growParam.minVTypeTreeLen = 500; //mm
 
diff --git a/sourceCode/planeLocalization.cpp b/sourceCode/planeLocalization.cpp
index a4eea26..54cd8df 100644
--- a/sourceCode/planeLocalization.cpp
+++ b/sourceCode/planeLocalization.cpp
@@ -9,7 +9,8 @@
 //version 1.1.0 : �Ż��˻��ǵ���ȡ����������������û�зɻ������
 //version 1.2.0 : �����˻ع�����з��ֵ�����
 //version 1.3.0 : ������ȡ���������������һ��Bug
-std::string	m_strVersion = " PlaneLocalization 1.3.0";
+//version 1.3.1 : �Ľ���ȡ���������������㷨
+std::string	m_strVersion = " PlaneLocalization 1.3.1";
 const char* wd_PlaneLocalizationVersion(void)
 {
 	return m_strVersion.c_str();
@@ -432,22 +433,26 @@ SSX_planeInfo wd_planeLocalization(
 	for (int m = 0; m < (int)allClusters.size(); m++)
 	{
 		SVzNL3DRangeD& a_roi = allClusterROIs[m];
-		if ((a_roi.zRange.min - rotateParkingPoint.z) < nearFarTh)
+		double height = groundCalibParam.planeHeight - a_roi.yRange.min;
+		if (height >= 2000.00)  //2�׸߶����ޣ� ����һ��������
 		{
-			if ((a_roi.xRange.min >= ROI_x_near.min) && (a_roi.xRange.max <= ROI_x_near.max) &&
-				(a_roi.zRange.min >= ROI_z.min) && (a_roi.zRange.max <= ROI_z.max))
+			if ((a_roi.zRange.min - rotateParkingPoint.z) < nearFarTh)
 			{
-				objClusters.push_back(allClusters[m]);
-				objClustersROIs.push_back(a_roi);
+				if ((a_roi.xRange.min >= ROI_x_near.min) && (a_roi.xRange.max <= ROI_x_near.max) &&
+					(a_roi.zRange.min >= ROI_z.min) && (a_roi.zRange.max <= ROI_z.max))
+				{
+					objClusters.push_back(allClusters[m]);
+					objClustersROIs.push_back(a_roi);
+				}
 			}
-		}
-		else
-		{
-			if ((a_roi.xRange.min >= ROI_x_far.min) && (a_roi.xRange.max <= ROI_x_far.max) &&
-				(a_roi.zRange.min >= ROI_z.min) && (a_roi.zRange.max <= ROI_z.max))
+			else
 			{
-				objClusters.push_back(allClusters[m]);
-				objClustersROIs.push_back(a_roi);
+				if ((a_roi.xRange.min >= ROI_x_far.min) && (a_roi.xRange.max <= ROI_x_far.max) &&
+					(a_roi.zRange.min >= ROI_z.min) && (a_roi.zRange.max <= ROI_z.max))
+				{
+					objClusters.push_back(allClusters[m]);
+					objClustersROIs.push_back(a_roi);
+				}
 			}
 		}
 	}
@@ -766,18 +771,66 @@ SSX_planeInfo wd_planeLocalization(
 		}
 
 		//ȡ���ҵ㼯����͵㣬��Ϊ���ҷ������IJο���
-		SVzNL3DPosition leftEnginePoint = distanceValidData[leftEngineIdx][0];
+
+
+		SVzNL3DPosition leftNearestPoint = distanceValidData[leftEngineIdx][0];
 		for (int i = 1; i < (int)distanceValidData[leftEngineIdx].size(); i++)
 		{
-			if (leftEnginePoint.pt3D.y < distanceValidData[leftEngineIdx][i].pt3D.y)
-				leftEnginePoint = distanceValidData[leftEngineIdx][i];
+			if (leftNearestPoint.pt3D.z > distanceValidData[leftEngineIdx][i].pt3D.z)
+				leftNearestPoint = distanceValidData[leftEngineIdx][i];
 		}
-		SVzNL3DPosition rightEnginePoint = distanceValidData[rightEngineIdx][0];
+		std::vector<SVzNL3DPosition> leftEengineData;
+
+		for (int i = 0; i < (int)distanceValidData[leftEngineIdx].size(); i++)
+		{
+			double zDiff = distanceValidData[leftEngineIdx][i].pt3D.z - leftNearestPoint.pt3D.z;
+			if (zDiff < 500.0) //0.5�׷�Χ��
+				leftEengineData.push_back(distanceValidData[leftEngineIdx][i]);
+		}
+		SVzNL3DPosition leftEnginePoint = leftEengineData[0];
+		SVzNL3DPosition leftCentroid = { 0, {0, 0, 0} };
+		for (int i = 1; i < (int)leftEengineData.size(); i++)
+		{
+			if (leftEnginePoint.pt3D.y < leftEengineData[i].pt3D.y)
+				leftEnginePoint = leftEengineData[i];
+			leftCentroid.pt3D.x += leftEengineData[i].pt3D.x;
+			leftCentroid.pt3D.y += leftEengineData[i].pt3D.y;
+			leftCentroid.pt3D.z += leftEengineData[i].pt3D.z;
+		}
+		int leftEngineDataSize = (int)leftEengineData.size();
+		leftCentroid.pt3D.x = leftCentroid.pt3D.x / leftEngineDataSize;
+		leftCentroid.pt3D.y = leftCentroid.pt3D.y / leftEngineDataSize;
+		leftCentroid.pt3D.z = leftCentroid.pt3D.z / leftEngineDataSize;
+
+		SVzNL3DPosition rightNearestPoint = distanceValidData[rightEngineIdx][0];
 		for (int i = 1; i < (int)distanceValidData[rightEngineIdx].size(); i++)
 		{
-			if (rightEnginePoint.pt3D.y < distanceValidData[rightEngineIdx][i].pt3D.y)
-				rightEnginePoint = distanceValidData[rightEngineIdx][i];
+			if (rightNearestPoint.pt3D.z > distanceValidData[rightEngineIdx][i].pt3D.z)
+				rightNearestPoint = distanceValidData[rightEngineIdx][i];
 		}
+		std::vector<SVzNL3DPosition> rightEngineData;
+		for (int i = 0; i < (int)distanceValidData[rightEngineIdx].size(); i++)
+		{
+			double zDiff = distanceValidData[rightEngineIdx][i].pt3D.z - rightNearestPoint.pt3D.z;
+			if (zDiff < 500.0) //0.5�׷�Χ��
+				rightEngineData.push_back(distanceValidData[rightEngineIdx][i]);
+		}
+
+		SVzNL3DPosition rightEnginePoint = rightEngineData[0];
+		SVzNL3DPosition rightCentroid = { 0, {0, 0, 0} };
+		for (int i = 1; i < (int)rightEngineData.size(); i++)
+		{
+			if (rightEnginePoint.pt3D.y < rightEngineData[i].pt3D.y)
+				rightEnginePoint = rightEngineData[i];
+
+			rightCentroid.pt3D.x += rightEngineData[i].pt3D.x;
+			rightCentroid.pt3D.y += rightEngineData[i].pt3D.y;
+			rightCentroid.pt3D.z += rightEngineData[i].pt3D.z;
+		}
+		int rightEngineDataSize = (int)rightEngineData.size();
+		rightCentroid.pt3D.x = rightCentroid.pt3D.x / rightEngineDataSize;
+		rightCentroid.pt3D.y = rightCentroid.pt3D.y / rightEngineDataSize;
+		rightCentroid.pt3D.z = rightCentroid.pt3D.z / rightEngineDataSize;
 #if _OUTPUT_DEBUG_DATA
 		{
 			int nose_lineIdx = nosePoint.nPointIdx >> 16;
@@ -794,6 +847,9 @@ SSX_planeInfo wd_planeLocalization(
 			debugData[nose_lineIdx][nose_ptIdx].nPointIdx |= 0x40000;  //���ǵ�
 		}
 #endif
+		leftEnginePoint.pt3D = leftCentroid.pt3D;
+		rightEnginePoint.pt3D = rightCentroid.pt3D;
+
 		//������̬
 		//axis�����ҷ�����������ֱ, ����(-y,, x)��ʽ
 		SVzNL2DPointD axis = { -(rightEnginePoint.pt3D.z - leftEnginePoint.pt3D.z), rightEnginePoint.pt3D.x - leftEnginePoint.pt3D.x };