diff --git a/TC_NAV_Zjut_post/Src/pntpos.c b/TC_NAV_Zjut_post/Src/pntpos.c
index 8c33100..11f7e0a 100644
--- a/TC_NAV_Zjut_post/Src/pntpos.c
+++ b/TC_NAV_Zjut_post/Src/pntpos.c
@@ -570,7 +570,11 @@ static int tc_rescode(int iter, const obsd_t *obs, int n, const double *rs,
         rate=dot(vs,e,3)+OMGE/CLIGHT*(rs[4+i*6]*rr[0]+rs[1+i*6]*vr[0]-
                                       rs[3+i*6]*rr[1]-rs[  i*6]*vr[1]);
         /* doppler residual */
+#ifdef LG69T
         v[2*nv+1]=(-obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2]));
+#elif defined(MPU6050)
+        v[2*nv+1]=(obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2]));
+#endif
 
         if(1){
             jaco_dop_dp(rs+6*i,rr,rs+3+6*i,vr,dopdp);
@@ -824,7 +828,11 @@ static int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
         sig=(err<=0.0)?1.0:err*CLIGHT/freq;
         
         /* range rate residual (m/s) */
-        v[nv]=(-obs[i].D[0]*CLIGHT/freq-(rate+x[3]-CLIGHT*dts[1+i*2]))/sig;
+#ifdef LG69T
+        v[2*nv+1]=(-obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2]));
+#else
+        v[2*nv+1]=(obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2]));
+#endif
         
         /* design matrix */
         for (j=0;j<4;j++) {
diff --git a/TC_NAV_Zjut_post/Src/real_time/ins.c b/TC_NAV_Zjut_post/Src/real_time/ins.c
index 1267393..0200d8f 100644
--- a/TC_NAV_Zjut_post/Src/real_time/ins.c
+++ b/TC_NAV_Zjut_post/Src/real_time/ins.c
@@ -338,7 +338,94 @@ extern void pregrav(const double *pos, double *g)
     g[1]+=SQR(OMGE)*pos[1]; /* (2.84) */
 #endif
 }
+/* update ins states ----------------------------------------------------------
+* updata ins states with imu measurement data in e-frame
+* args   :
+*          ins_t        *ins        IO   ins states
+*          imudata_t    *data       I   imu measurement data
+* return : 0 (fail) or 1 (ok)
+*----------------------------------------------------------------------------*/
+extern int rt_updateins(ins_t *ins,const imud_t *data){
+    double dt,Cbe[9],fe[3],ge[3],cori[3],Cbb[9]={1,0,0,0,1,0,0,0,1};
+    double Ca[9],Ca2[9],a1,a2,mag_alpha,alpha[3]={0},Omg[9]={0},ae[3]={0};
+    double das[3]={0},dvs[3]={0},fb[3],acc[3]={0},old_pos[3]={0};
 
+    traceins(3,ins);
+    trace(3,"imu %lf,%lf,%lf,%lf,%lf,%lf\n",data->accl[0],data->accl[1],data->accl[2],data->gyro[0],data->gyro[1],data->gyro[2]);
+    savepins(ins);
+
+    dt= timediff(data->syn_time,ins->gtime);
+    if(dt<0){
+        ins->gtime =data->syn_time;
+        trace(2,"dt<0 dt = %lf\n",dt);
+        return  0;
+    }
+    if(dt > MAXDT || fabs(dt)<1E-6){
+        /* update time information */
+        ins->dt = dt;
+        ins->pgtime=ins->gtime;
+        ins->gtime =data->syn_time;
+
+        trace(2,"time difference too large: %.10fs\n",dt);
+        return 0;
+    }
+    for(int i=0;i<3;i++){
+        ins->omgb[i] = data->gyro[i] - ins->gyro_bias[i];
+        ins->fb[i] = data->accl[i] - ins->acc_bias[i];
+    }
+    ae[2]=OMGE*dt;
+
+    /* rotational and sculling motion correction */
+    rotscull_corr(ins,dt,dvs,das);
+
+    /* update attitude */
+    for (int i=0;i<9;i++) Cbe[i]=ins->Cbe[i];
+    updateatt(dt,ins->Cbe,ins->omgb,das);
+
+    for (int i=0;i<3;i++) alpha[i]=ins->omgb[i]*dt+das[i];
+    skewsym3(alpha,Ca);
+    /* check if the value is too small to keep numerical robustness */
+    if ((mag_alpha=norm(alpha,3))>1E-8) {
+        a1=(1.0-cos(mag_alpha))/SQR(mag_alpha);
+        a2=1.0/SQR(mag_alpha)*(1.0-sin(mag_alpha)/mag_alpha);
+        matmul3("NN",Ca,Ca,Ca2);
+        for (int i=0;i<9;i++) Cbb[i]+=a1*Ca[i]+a2*Ca2[i];
+        skewsym3(ae,Omg);
+        matmul3("NN",Cbe,Cbb,Ca);
+        matmul3("NN",Omg,Cbe,Ca2);
+        for (int i=0;i<9;i++) Cbe[i]=Ca[i]-0.5*Ca2[i];
+    }
+    else {
+        skewsym3(ae,Omg);
+        matmul3("NN",Omg,Cbe,Ca);
+        for (int i=0;i<9;i++) Cbe[i]-=0.5*Ca[i];
+    }
+
+    /* specific-force/gravity in e-frame */
+    for (int i=0;i<3;i++) fb[i]=ins->fb[i]+dvs[i]/dt;
+    matmul3v("N",Cbe,fb,fe);
+    /* precious gravity model */
+    pregrav(ins->position,ge);
+    /* old velocity */
+    matcpy(ins->p_velocity,ins->velocity,1,3);
+    /* update velocity/position */
+    matmul3v("N",Omge,ins->velocity,cori);
+
+    for (int i=0;i<3;i++) {
+        acc[i]=fe[i]+ge[i]-2.0*cori[i];
+        ins->velocity[i]+=acc[i]*dt;
+//        ins->position[i]+=ins->velocity[i]*dt+acc[i]/2.0*dt*dt;
+        ins->position[i]+=(ins->velocity[i]+ins->p_velocity[i])/2*dt;
+    }
+
+    ins->dt=timediff(data->syn_time,ins->gtime);
+    ins->ptime=ins->time;
+    ins->gtime = data->syn_time;
+    ins->time = data->time;
+    ins->stat =INSS_MECH;
+
+    return 1;
+}
 /* update ins states ----------------------------------------------------------
 * updata ins states with imu measurement data in e-frame
 * args   :
diff --git a/TC_NAV_Zjut_post/Src/real_time/rt_ins-gnss.c b/TC_NAV_Zjut_post/Src/real_time/rt_ins-gnss.c
index e9c902f..4c76ac9 100644
--- a/TC_NAV_Zjut_post/Src/real_time/rt_ins-gnss.c
+++ b/TC_NAV_Zjut_post/Src/real_time/rt_ins-gnss.c
@@ -12,11 +12,9 @@
 #define INS_RANDOM_WALK     1
 #define INS_GAUSS_MARKOV    2
 #define CORRETIME           360                    /* correlation time for gauss-markov process */
-#define LG69T
 
 /* insopt init ------------------------------------------*/
 extern void rt_insopt_init(insopt_t *insopt){
-#ifdef LG69T
     insopt->init_att_unc = 10.0*D2R;
     insopt->init_vel_unc =30.0;
     insopt->init_pos_unc = 30.0;
@@ -24,17 +22,17 @@ extern void rt_insopt_init(insopt_t *insopt){
     insopt->init_b_g_unc = (30.0 *D2R/3600);
     insopt->init_clk_offset_unc = 100.0;
     insopt->init_cllk_drift_unc = 10.0;
-
+#ifdef LG69T
     insopt->gyro_noise_PSD = (4.5608709013908013e-7);
     insopt->accel_noise_PSD = (1.3516059391412613e-2);
     insopt->accel_bias_PSD = (6.2711800396676807e-7);
     insopt->gyro_bias_PSD = (1.2475185921386573e-10);
-
-//    insopt->gyro_noise_PSD = (7.5608709013908013e-4);
-//    insopt->accel_noise_PSD = (2.3516059391412613e-2);
-//    insopt->accel_bias_PSD = 6.2711800396676807e-4;
-//    insopt->gyro_bias_PSD = 1.2475185921386573e-9;
-
+#elif defined(MPU6050)
+    insopt->gyro_noise_PSD = 9.6624038359801494e-04;
+    insopt->accel_noise_PSD = 1.6859942078067028e-02;
+    insopt->accel_bias_PSD = 7.0943796082649242e-04;
+    insopt->gyro_bias_PSD = 1.6540434623057674e-05;
+#endif
 
     insopt->clock_freq_PSD = 1.0;
     insopt->clock_phase_PSD = 1.0;
@@ -51,9 +49,6 @@ extern void rt_insopt_init(insopt_t *insopt){
     insopt->L_ba_b[2]=-0.8;
 
     insopt->noise_type = INS_GAUSS_MARKOV;
-#elif
-
-#endif
 }
 /* get number of phase bias */
 extern int xnB(const insopt_t *insopt){
@@ -654,7 +649,7 @@ extern int tcigpos(const prcopt_t *opt,const obsd_t *obs,int n,const nav_t *nav,
     ins->stat = INSS_NONE;
     /* update ins states in e-frame */
     /* dt 在这里取值 */
-    if(!updateins(ins,imu)){
+    if(!rt_updateins(ins,imu)){
         trace(2,"ins mechanization update fail\n");
         return 0;
     }
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+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/ttydefaults.h:
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+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/wait.h:
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+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_posix_vdisable.h:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/unistd.h:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/netinet6/in6.h:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/netinet/in.h:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/net/net_kev.h:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/constrained_ctypes.h:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/select.h:
+
+/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/real_time/client.c:
+
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-
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+/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/tides.c:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_s_ifmt.h:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/socket.h:
+
 /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/novatel.c:
 
 /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/javad.c:
 
+/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/real_time/rt_tcsvr.c:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_iovec_t.h:
+
 /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/gis.c:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_fsfilcnt_t.h:
 
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/arm/_param.h:
+
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_fsblkcnt_t.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/unistd.h:
@@ -6358,6 +6989,8 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_caddr_t.h:
 
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_socklen_t.h:
+
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_u_short.h:
 
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@@ -6374,6 +7007,8 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_blksize_t.h:
 
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/arpa/inet.h:
+
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/stat.h:
 
 /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/ionex.c:
@@ -6386,8 +7021,6 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/errno.h:
 
-/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/time.h:
-
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 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/AvailabilityInternal.h:
@@ -6424,16 +7057,12 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/ephemeris.c:
 
-/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/select.h:
-
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/pthread/qos.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_mach_port_t.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/qos.h:
 
-/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_o_dsync.h:
-
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_pthread/_pthread_t.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_u_int.h:
@@ -6444,8 +7073,6 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_pthread/_pthread_mutexattr_t.h:
 
-/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/dirent.h:
-
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/resource.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_pthread/_pthread_key_t.h:
@@ -6476,12 +7103,10 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/time.h:
 
-/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/skytraq.c:
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/ttycom.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_sa_family_t.h:
 
-/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/ttycom.h:
-
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/mach/machine/_structs.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/strings.h:
@@ -6526,12 +7151,6 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_timeval.h:
 
-/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/tides.c:
-
-/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/socket.h:
-
-/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_s_ifmt.h:
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 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_pthread/_pthread_rwlockattr_t.h:
@@ -6552,12 +7171,18 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/stdint.h:
 
+/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/real_time/imu.c:
+
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/math.h:
 
 /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/14.0.0/include/stdint.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_uid_t.h:
 
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_o_sync.h:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_pthread/_pthread_cond_t.h:
+
 /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/post/ps_tcpos.c:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_null.h:
@@ -6602,16 +7227,24 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/real_time/rt_ins-gnss.c:
 
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/fcntl.h:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/Availability.h:
+
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_blkcnt_t.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/secure/_stdio.h:
 
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/signal.h:
+
 /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/rcvraw.c:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_pthread/_pthread_mutex_t.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_ssize_t.h:
 
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/machine/_param.h:
+
 /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/include/rtklib.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_wchar_t.h:
@@ -6626,8 +7259,16 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_in_port_t.h:
 
+/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/solution.c:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_int8_t.h:
+
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/pthread/pthread_impl.h:
 
+/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/real_time/rt_tcpos.c:
+
+/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/real_time/rt_tcfilt.c:
+
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_ct_rune_t.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_size_t.h:
@@ -6640,6 +7281,10 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_types/_int64_t.h:
 
+/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/sbas.c:
+
+/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/arm/_types.h:
+
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/_pthread/_pthread_rwlock_t.h:
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/stdio.h:
@@ -6648,8 +7293,6 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/malloc/_malloc.h:
 
-/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/sys/fcntl.h:
-
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 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/netinet/tcp.h:
@@ -6670,8 +7313,4 @@ CMakeFiles/TC_NAV_Zjut.dir/main.c.o: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_
 
 /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/binex.c:
 
-/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/stream.c:
-
-/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/Src/rtcm2.c:
-
 /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include/secure/_common.h:
diff --git a/TC_NAV_Zjut_post/cmake-build-debug/TC_NAV_Zjut b/TC_NAV_Zjut_post/cmake-build-debug/TC_NAV_Zjut
index 008259c..b133258 100755
Binary files a/TC_NAV_Zjut_post/cmake-build-debug/TC_NAV_Zjut and b/TC_NAV_Zjut_post/cmake-build-debug/TC_NAV_Zjut differ
diff --git a/TC_NAV_Zjut_post/cmake-build-debug/Testing/Temporary/LastTest.log b/TC_NAV_Zjut_post/cmake-build-debug/Testing/Temporary/LastTest.log
index 7c67329..0a31f6c 100644
--- a/TC_NAV_Zjut_post/cmake-build-debug/Testing/Temporary/LastTest.log
+++ b/TC_NAV_Zjut_post/cmake-build-debug/Testing/Temporary/LastTest.log
@@ -1,3 +1,3 @@
-Start testing: Mar 30 10:14 CST
+Start testing: Apr 01 15:31 CST
 ----------------------------------------------------------
-End testing: Mar 30 10:14 CST
+End testing: Apr 01 15:31 CST
diff --git a/TC_NAV_Zjut_post/include/rtklib.h b/TC_NAV_Zjut_post/include/rtklib.h
index f542b15..741a6e3 100644
--- a/TC_NAV_Zjut_post/include/rtklib.h
+++ b/TC_NAV_Zjut_post/include/rtklib.h
@@ -585,6 +585,8 @@ extern "C" {
 #endif
 
 //#define CLIENT  0
+#define MPU6050
+
 
 /* type definitions ----------------------------------------------------------*/
 
@@ -1574,6 +1576,7 @@ EXPORT void gravity_ned(const double *pos,double *gn);
 EXPORT double gravity0(const double *pos);
 EXPORT void gravity(const double *re, double *ge);
 EXPORT int updateins(ins_t *ins,const imud_t *data);
+EXPORT int rt_updateins(ins_t *ins,const imud_t *data);
 EXPORT void dcm2rpy(const double *Cnb,double *rpy);
 EXPORT void rpy2dcm(const double *rpy,double *Cnb);
 EXPORT void getatt(const ins_t *ins,double *rpy);
diff --git a/TC_NAV_Zjut_post/main.c b/TC_NAV_Zjut_post/main.c
index 510db51..9da0170 100644
--- a/TC_NAV_Zjut_post/main.c
+++ b/TC_NAV_Zjut_post/main.c
@@ -2,6 +2,7 @@
 #include "sys/stat.h"
 #include "rtklib.h"
 
+#define RT
 
 int main(int argc, char **argv) {
     char *imu_path="../data/630_3/IMU.csv";
@@ -9,10 +10,16 @@ int main(int argc, char **argv) {
     char *sat_path="../data/630_3/Sat.csv";
     char *obs_path="../data/630_3/r.obs";
     char *nav_path="../data/630_3/r.nav";
-
+#ifdef RT
+    if(!tcpos()){
+        trace(2,"post time tightly coupled fail\n");
+        return 0;
+    }
+#else
     if(!ps_tcpos(imu_path,pvt_path,sat_path,obs_path,nav_path)){
         trace(2,"post time tightly coupled fail\n");
         return 0;
     }
     return 0;
+#endif
 }