diff --git a/TC_NAV_Zjut_post/Src/pntpos.c b/TC_NAV_Zjut_post/Src/pntpos.c
index 772346e..6aae66b 100644
--- a/TC_NAV_Zjut_post/Src/pntpos.c
+++ b/TC_NAV_Zjut_post/Src/pntpos.c
@@ -657,7 +657,9 @@ static int estpos(const obsd_t *obs, int n, const double *rs, const double *dts,
     
     trace(3,"estpos  : n=%d\n",n);
     
-    v=mat(n+4,1); H=mat(NX,n+4); var=mat(n+4,1);
+    v=mat(n+4,1);
+    H=mat(NX,n+4);
+    var=mat(n+4,1);
     
     for (i=0;i<3;i++) x[i]=sol->rr[i];
 
@@ -797,15 +799,15 @@ static int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
 {
     double freq,rate,pos[3],E[9],a[3],e[3],vs[3],cosel,sig;
     int i,j,nv=0;
-    
+
     trace(3,"resdop  : n=%d\n",n);
-    
+
     ecef2pos(rr,pos); xyz2enu(pos,E);
-    
+
     for (i=0;i<n&&i<MAXOBS;i++) {
-        
+
         freq=sat2freq(obs[i].sat,obs[i].code[0],nav);
-        
+
         if (obs[i].D[0]==0.0||freq==0.0||!vsat[i]||norm(rs+3+i*6,3)<=0.0) {
             continue;
         }
@@ -815,7 +817,7 @@ static int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
         a[1]=cos(azel[i*2])*cosel;
         a[2]=sin(azel[1+i*2]);
         matmul("TN",3,1,3,1.0,E,a,0.0,e);
-        
+
         /* satellite velocity relative to receiver in ECEF */
         for (j=0;j<3;j++) {
             vs[j]=rs[j+3+i*6]-x[j];
@@ -823,17 +825,13 @@ static int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
         /* range rate with earth rotation correction */
         rate=dot(vs,e,3)+OMGE/CLIGHT*(rs[4+i*6]*rr[0]+rs[1+i*6]*x[0]-
                                       rs[3+i*6]*rr[1]-rs[  i*6]*x[1]);
-        
+
         /* Std of range rate error (m/s) */
         sig=(err<=0.0)?1.0:err*CLIGHT/freq;
-        
+
         /* range rate residual (m/s) */
-#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
-        
+        v[nv]=(obs[i].D[0]*CLIGHT/freq-(rate+x[3]-CLIGHT*dts[1+i*2]))/sig;
+
         /* design matrix */
         for (j=0;j<4;j++) {
             H[j+nv*4]=((j<3)?-e[j]:1.0)/sig;
diff --git a/TC_NAV_Zjut_post/config/Tc.conf b/TC_NAV_Zjut_post/config/Tc.conf
index a4fc07c..d932658 100644
--- a/TC_NAV_Zjut_post/config/Tc.conf
+++ b/TC_NAV_Zjut_post/config/Tc.conf
@@ -134,7 +134,7 @@ inpstr3-type       =serial        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:n
 inpstr1-path       =ttyACM2:460800:8:n:1:off
 # inpstr2-path       =caxm002:m2ywj94n@sdk.pnt.10086.cn:8002/RTCM33_GRCEJ
 inpstr2-path       =
-inpstr3-path       =ttyACM0:921600:8:n:1:off
+inpstr3-path       =ttyACM3:921600:8:n:1:off
 inpstr1-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,4:ubx,5:swift,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,15:sp3,19:imu)
 inpstr2-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,4:ubx,5:swift,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,15:sp3,19:imu)
 inpstr3-format     =imu      # (0:rtcm2,1:rtcm3,2:oem4,4:ubx,5:swift,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,15:sp3,19:imu)