diff --git a/.gitignore b/.gitignore
index 7fe7d77..eaed482 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,3 +4,7 @@ build_release/
 build/
 
 *.pyc
+script/residual.png
+script/det.txt
+
+
diff --git a/.vscode/launch.json b/.vscode/launch.json
index d764c9a..fe274bf 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -14,7 +14,7 @@
                 "-C", "spp_kpl_lsqd.ini", "-S", "GREC", "-M", "spp", "-L", "1",
             ],
             "stopAtEntry": false,
-            "cwd": "/mnt/hgfs/VirtualFile/POSGO_V1.0/conf",
+            "cwd": "/mnt/hgfs/VirtualFile/POSGO/conf",
             "environment": [],
             "externalConsole": false,
             "MIMode": "gdb",
@@ -33,10 +33,10 @@
             "request": "launch",
             "program": "${workspaceFolder}/build_release/POSGO",
             "args": [
-                "-C", "rp_kpl_ekfd.ini", "-S", "GREC", "-M", "rtk", "-L", "1",
+                "-C", "spp_mate_go.ini", "-S", "GCRE", "-M", "spp", "-L", "1"
             ],
             "stopAtEntry": false,
-            "cwd": "/mnt/hgfs/VirtualFile/POSGO_V1.0/conf",
+            "cwd": "/mnt/hgfs/VirtualFile/POSGO/conf",
             "environment": [],
             "externalConsole": false,
             "MIMode": "gdb",
diff --git a/conf/rp_kpl_gol.ini b/conf/rp_kpl_gol.ini
index 71f1fc4..3c3f2e7 100644
--- a/conf/rp_kpl_gol.ini
+++ b/conf/rp_kpl_gol.ini
@@ -48,10 +48,10 @@ ExportTimeSystem     = gpst         #1.gpst; 2.utc; 3.bst
 
 
 #file name
-File-GnssObs         =/mnt/hgfs/VirtualFile/POSGO_V1.0/data/kpl/kpl.22o
-File-Navigation      =/mnt/hgfs/VirtualFile/POSGO_V1.0/data/kpl/BRDC00IGS_R_20221650000_01D_MN.rnx
-File-GnssBase        =/mnt/hgfs/VirtualFile/POSGO_V1.0/data/kpl/base.22o
-File-Result          =/mnt/hgfs/VirtualFile/data/paper/kpl/my2.txt
+File-GnssObs         =/mnt/hgfs/VirtualFile/data/paper/kpl/kpl.22o
+File-Navigation      =/mnt/hgfs/VirtualFile/data/paper/kpl/BRDC00IGS_R_20221650000_01D_MN.rnx
+File-GnssBase        =/mnt/hgfs/VirtualFile/data/paper/kpl/base.22o
+File-Result          =/mnt/hgfs/VirtualFile/data/paper/kpl/my.txt
 File-Leapsec         =/mnt/hgfs/VirtualFile/posgo_ws/src/POSGO/tables/leap.sec
 
 #debug
diff --git a/doc/POSGO User Manual.docx b/doc/POSGO User Manual.docx
index 19803de..e5ddea7 100644
Binary files a/doc/POSGO User Manual.docx and b/doc/POSGO User Manual.docx differ
diff --git a/doc/~$SGO User Manual.docx b/doc/~$SGO User Manual.docx
new file mode 100644
index 0000000..103ae09
Binary files /dev/null and b/doc/~$SGO User Manual.docx differ
diff --git a/script/.idea/workspace.xml b/script/.idea/workspace.xml
index b2e34fd..60cf70c 100644
--- a/script/.idea/workspace.xml
+++ b/script/.idea/workspace.xml
@@ -1,7 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="ChangeListManager">
-    <list default="true" id="6009f877-bc7b-4f29-967f-1f33cf65af0a" name="默认变更列表" comment="" />
+    <list default="true" id="6009f877-bc7b-4f29-967f-1f33cf65af0a" name="默认变更列表" comment="">
+      <change beforePath="$PROJECT_DIR$/../.vscode/launch.json" beforeDir="false" afterPath="$PROJECT_DIR$/../.vscode/launch.json" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/../conf/rp_kpl_gol.ini" beforeDir="false" afterPath="$PROJECT_DIR$/../conf/rp_kpl_gol.ini" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/../doc/POSGO User Manual.docx" beforeDir="false" afterPath="$PROJECT_DIR$/../doc/POSGO User Manual.docx" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Analyze.py" beforeDir="false" afterPath="$PROJECT_DIR$/Analyze.py" afterDir="false" />
+    </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
     <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
@@ -29,7 +35,7 @@
       <recent name="E:\VirtualFile\POSGO\script" />
     </key>
   </component>
-  <component name="RunManager" selected="Python.Analyze">
+  <component name="RunManager" selected="Python.AnalyzeStatic">
     <configuration name="Analyze" type="PythonConfigurationType" factoryName="Python" temporary="true" nameIsGenerated="true">
       <module name="script" />
       <option name="INTERPRETER_OPTIONS" value="" />
@@ -43,7 +49,7 @@
       <option name="ADD_CONTENT_ROOTS" value="true" />
       <option name="ADD_SOURCE_ROOTS" value="true" />
       <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Analyze.py" />
-      <option name="PARAMETERS" value="E:\VirtualFile\data\paper\Alloy\my.txt E:\VirtualFile\data\paper\Alloy\ref.txt" />
+      <option name="PARAMETERS" value="E:\VirtualFile\data\paper\P40\my.txt E:\VirtualFile\data\paper\P40\ref.txt" />
       <option name="SHOW_COMMAND_LINE" value="false" />
       <option name="EMULATE_TERMINAL" value="false" />
       <option name="MODULE_MODE" value="false" />
@@ -122,8 +128,8 @@
     </list>
     <recent_temporary>
       <list>
-        <item itemvalue="Python.Analyze" />
         <item itemvalue="Python.AnalyzeStatic" />
+        <item itemvalue="Python.Analyze" />
         <item itemvalue="Python.mytime" />
         <item itemvalue="Python.dynamic" />
       </list>
diff --git a/script/Analyze.py b/script/Analyze.py
index 0f05c7f..3dda119 100644
--- a/script/Analyze.py
+++ b/script/Analyze.py
@@ -62,11 +62,11 @@ def StatisticResult(_det):
         all += 1
         _stat.gpsw.append(time)
 
-        if abs(det["b"]) < 100:
+        if abs(det["b"]) < 1e10:
             _stat.dx.append(det["b"])
-        if abs(det["l"]) < 100:
+        if abs(det["l"]) < 1e10:
             _stat.dy.append(det["l"])
-        if abs(det["h"]) < 100:
+        if abs(det["h"]) < 1e10:
             _stat.dz.append(det["h"])
         if det["stat"] == 1 or det["stat"] == 3:
             fix += 1
@@ -184,8 +184,8 @@ def DrawFigure(_stat):
     detFile = "det.txt"
 
     calValue = ReadMyResult(calFile)
-    refValue = ReadIERefResult(refFile)
-#    refValue = ReadGINSResult(refFile)
+#    refValue = ReadIERefResult(refFile)
+    refValue = ReadGINSResult(refFile)
 
     detValue = CalDifference(calValue, refValue)
     Stat = StatisticResult(detValue)
diff --git a/script/det.txt b/script/det.txt
index 21325ed..d278a4e 100644
--- a/script/det.txt
+++ b/script/det.txt
@@ -1,2230 +1,2549 @@
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-  2214.357,     0.530,     0.975,    -0.778,  2 
-  2214.357,     0.539,     0.914,    -0.861,  2 
-  2214.357,     0.431,     0.847,    -0.934,  2 
-  2214.357,     0.432,     0.845,    -1.017,  2 
-  2214.357,     0.286,     0.576,    -0.952,  2 
-  2214.357,     0.336,     0.494,    -0.956,  2 
-  2214.357,     0.357,     0.431,    -0.956,  2 
-  2214.357,     0.521,     0.498,    -0.997,  2 
-  2214.357,     0.572,     0.494,    -0.966,  2 
-  2214.357,     0.636,     0.530,    -0.954,  2 
-  2214.357,     0.696,     0.545,    -0.887,  2 
-  2214.357,     0.674,     0.503,    -0.894,  2 
-  2214.357,     0.630,     0.567,    -0.878,  2 
-  2214.357,     0.613,     0.607,    -0.787,  2 
-  2214.357,     0.602,     0.724,    -0.798,  2 
-  2214.357,     0.579,     0.815,    -0.713,  2 
-  2214.357,     0.505,     0.939,    -0.517,  2 
-  2214.357,     0.438,     0.906,    -0.672,  2 
-  2214.357,     0.438,     0.889,    -0.749,  2 
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-  2214.357,     0.329,     0.837,    -0.704,  2 
-  2214.357,     0.349,     0.781,    -0.752,  2 
-  2214.357,     0.337,     0.731,    -0.735,  2 
-  2214.357,     0.341,     0.714,    -0.650,  2 
-  2214.357,     0.378,     0.769,    -0.601,  2 
-  2214.357,     0.298,     0.756,    -0.401,  2 
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-  2214.357,     0.046,     1.192,     0.027,  2 
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-  2214.357,     0.067,     1.177,    -0.025,  2 
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-  2214.357,     0.097,     1.142,     0.021,  2 
-  2214.357,     0.203,     1.181,    -0.201,  2 
-  2214.357,     0.183,     1.103,    -0.120,  2 
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-  2214.357,     0.110,     1.027,     0.131,  2 
-  2214.357,     0.112,     0.915,     0.074,  2 
-  2214.357,     0.172,     0.857,     0.034,  2 
-  2214.357,     0.178,     0.775,     0.201,  2 
-  2214.357,     0.191,     0.772,     0.401,  2 
-  2214.357,     0.229,     0.899,     0.334,  2 
-  2214.357,     0.278,     0.986,     0.241,  2 
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-  2214.357,     0.222,     0.938,     0.252,  2 
-  2214.357,     0.267,     0.880,     0.442,  2 
-  2214.357,     0.382,     0.939,     0.444,  2 
-  2214.357,     0.357,     0.978,     0.468,  2 
-  2214.357,     0.394,     1.115,     0.349,  2 
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-  2214.357,     0.288,     1.214,     0.317,  2 
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-  2214.357,     0.223,     1.013,     0.387,  2 
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-  2214.357,     0.027,     0.997,     0.945,  2 
-  2214.357,     0.053,     1.028,     0.869,  2 
-  2214.357,     0.006,     1.100,     0.807,  2 
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-  2214.357,     0.405,     0.996,     0.508,  2 
-  2214.357,     0.352,     1.094,     0.442,  2 
-  2214.357,     0.343,     1.161,     0.229,  2 
-  2214.357,     0.342,     1.151,    -0.051,  2 
-  2214.357,     0.416,     1.114,    -0.171,  2 
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-  2214.357,     0.269,     1.065,    -0.188,  2 
-  2214.357,     0.183,     1.115,    -0.146,  2 
-  2214.357,     0.225,     0.993,    -0.057,  2 
-  2214.357,     0.393,     1.332,    -0.258,  2 
-  2214.357,     0.372,     1.256,    -0.186,  2 
-  2214.357,     0.386,     1.127,    -0.067,  2 
-  2214.357,     0.446,     1.329,    -0.092,  2 
-  2214.357,     0.406,     1.339,    -0.056,  2 
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-  2214.357,     0.450,     0.083,    -0.493,  2 
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-  2214.357,    -0.004,     0.085,    -0.369,  2 
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-  2214.357,     0.051,     0.067,    -0.094,  2 
-  2214.357,     0.108,     0.189,    -0.243,  2 
-  2214.357,     0.130,     0.239,    -0.206,  2 
-  2214.357,     0.179,     0.302,    -0.277,  2 
-  2214.357,     0.136,     0.303,    -0.310,  2 
-  2214.357,     0.135,     0.305,    -0.413,  2 
-  2214.357,     0.082,     0.558,    -0.454,  2 
-  2214.357,     0.164,     0.709,    -0.663,  2 
-  2214.357,     0.183,     0.678,    -0.571,  2 
-  2214.357,     0.258,     0.623,    -0.542,  2 
-  2214.357,     0.269,     0.537,    -0.508,  2 
-  2214.357,     0.400,     0.648,    -0.443,  2 
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diff --git a/script/residual.png b/script/residual.png
index b1d538f..29ba5aa 100644
Binary files a/script/residual.png and b/script/residual.png differ