diff --git a/data_process_class_dll/data_process.cpp b/data_process_class_dll/data_process.cpp
index 2a51c79..79c7d79 100644
--- a/data_process_class_dll/data_process.cpp
+++ b/data_process_class_dll/data_process.cpp
@@ -160,6 +160,7 @@ int         model)
 		                              &trust_track,
 		                              Trust_Track_Output,
 		                              Trust_track_num_Output,
+									  latest_timestamp,
 		                              Work_Parameter
 		                              );
 
diff --git a/data_process_class_dll/track_asso.cpp b/data_process_class_dll/track_asso.cpp
index 5bf9c08..84efb65 100644
--- a/data_process_class_dll/track_asso.cpp
+++ b/data_process_class_dll/track_asso.cpp
@@ -20,6 +20,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv>               *point_
 									std::vector <Trust_Track>            *trust_track,                            //航迹文件
 									struct  Track                    Trust_Track_Output[MAX_TRACK_NUM][10],   //更新航迹信息
 									int                              *Trust_track_num_Output,                 //更新航迹数
+									long long 								latest_timestamp,                        //最新时间戳
 									struct  RadarPara                Work_Parameter                           //雷达参数
 									)
 {
@@ -35,7 +36,7 @@ int Track_Asso:: track_asso_process(std::vector<PointRecv>               *point_
 	//IMM算法
 	model_interaction(trust_track);
 
-	model_filter(trust_track, Work_Parameter);
+	model_filter(trust_track, Work_Parameter, latest_timestamp);
 
 	model_output(trust_track);
 
@@ -429,7 +430,7 @@ void Track_Asso::IMM_d_cal(double v_track,
 
 }
 
-void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  RadarPara Work_Parameter)
+void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  RadarPara Work_Parameter, long long latest_timestamp)
 {
 
 	
@@ -729,23 +730,29 @@ void Track_Asso:: model_filter(std::vector <Trust_Track> *trust_track,struct  Ra
 			if((*trust_track)[i].Extrapolate_round <= MAX_EXTRAPOLATE_NUM)
 			{
 				double v_track = sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2));
-				double delta_T;
-				if(Work_Parameter.work_mode == 0)
-				{
-				delta_T = Work_Parameter.DATA_RATE_SHORT;
-				}
-				else if(Work_Parameter.work_mode == 1)
-				{
-					delta_T = Work_Parameter.DATA_RATE_MIDDLE;
-				}
-				else if(Work_Parameter.work_mode == 2)
-				{
-					delta_T = Work_Parameter.DATA_RATE_FAR;
-				}
-				else
-				{
-					delta_T = Work_Parameter.DATA_RATE_SHORT;
-				}
+
+				double delta_T = (latest_timestamp - (*trust_track)[i].T_track)/1000.0;
+				if (delta_T <= 0)
+					continue;
+
+				// 
+				// 
+				// if(Work_Parameter.work_mode == 0)
+				// {
+				// delta_T = Work_Parameter.DATA_RATE_SHORT;
+				// }
+				// else if(Work_Parameter.work_mode == 1)
+				// {
+				// 	delta_T = Work_Parameter.DATA_RATE_MIDDLE;
+				// }
+				// else if(Work_Parameter.work_mode == 2)
+				// {
+				// 	delta_T = Work_Parameter.DATA_RATE_FAR;
+				// }
+				// else
+				// {
+				// 	delta_T = Work_Parameter.DATA_RATE_SHORT;
+				// }
 
 				double F[6][6],  Q1[6][6],  Q2[6][6],  Q3[6][6];
 				IMM_F_Q_gen( v_track, delta_T, F, Q1,  Q2,  Q3,Work_Parameter);
diff --git a/data_process_class_dll/track_asso.h b/data_process_class_dll/track_asso.h
index 7ef623d..8bb2483 100644
--- a/data_process_class_dll/track_asso.h
+++ b/data_process_class_dll/track_asso.h
@@ -16,6 +16,7 @@ public:
 							   std::vector <Trust_Track>            *trust_track,                            //航迹文件
 							   struct  Track                    Trust_Track_Output[MAX_TRACK_NUM][10],   //更新航迹信息
 							   int                              *Trust_track_num_Output,                 //更新航迹数
+							   long long 								latest_timestamp,                        //最新时间戳
 							   struct  RadarPara                Work_Parameter                             //工作参数
 							   );
 
@@ -30,7 +31,8 @@ private:
 	void model_interaction(std::vector <Trust_Track>    *trust_track);               //模型交互
 
 	void model_filter(std::vector <Trust_Track>          *trust_track,           //滤波
-					  struct  RadarPara              Work_Parameter
+					  struct  RadarPara              Work_Parameter,
+					  long long							latest_timestamp
 					  );
 
 	void model_output(std::vector <Trust_Track>         *trust_track );             //模型输出