diff --git a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
index 0a330aa..82502cf 100644
--- a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
+++ b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
@@ -56,6 +56,7 @@ public:
     uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
                                 const AMOV_GIMBAL_VELOCITY_T &seppd,
                                 const AMOV_GIMBAL_VELOCITY_T &acc,
+                                float lng, float lat, float alt, uint32_t nState, float relAlt,
                                 void *extenData);
 
     uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
diff --git a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
index 17a2f77..5becbe8 100644
--- a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
+++ b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
@@ -134,12 +134,21 @@ uint32_t GX40GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
 uint32_t GX40GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
                                               const AMOV_GIMBAL_VELOCITY_T &seppd,
                                               const AMOV_GIMBAL_VELOCITY_T &acc,
+                                              float lng, float lat, float alt, uint32_t nState, float relAlt,
                                               void *extenData)
 {
     carrierStateMutex.lock();
     carrierPos = pos;
     carrierSpeed = seppd;
     carrierAcc = acc;
+
+    carrierGNSS.lng = lng / 1E-7;
+    carrierGNSS.lat = lat / 1E-7;
+    carrierGNSS.alt = alt / 1E-3;
+
+    carrierGNSS.relAlt = relAlt / 1E-3;
+    carrierGNSS.nState = nState;
+
     upDataTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
     carrierStateMutex.unlock();
     return sizeof(AMOV_GIMBAL_POS_T) + sizeof(AMOV_GIMBAL_VELOCITY_T) + sizeof(AMOV_GIMBAL_VELOCITY_T);
diff --git a/gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h b/gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h
index bf53345..8a1b84e 100755
--- a/gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h
+++ b/gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h
@@ -83,10 +83,10 @@ namespace amovGimbal
         uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
         uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
                                     const AMOV_GIMBAL_VELOCITY_T &speed,
-                                    const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+                                    const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
         uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
                                     const AMOV_GIMBAL_VELOCITY_T &seppd,
-                                    const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+                                    const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
         uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
         uint32_t setDownwardShootingMode();
         uint32_t extensionFuntions(void *cmd);
diff --git a/gimbal_ctrl/driver/src/amov_gimbal_interface.cpp b/gimbal_ctrl/driver/src/amov_gimbal_interface.cpp
index 97a3f67..1ed3ba5 100644
--- a/gimbal_ctrl/driver/src/amov_gimbal_interface.cpp
+++ b/gimbal_ctrl/driver/src/amov_gimbal_interface.cpp
@@ -142,28 +142,28 @@ uint32_t amovGimbal::IamovGimbalBase::setVideo(const AMOV_GIMBAL_VIDEO_T newStat
 
 uint32_t amovGimbal::gimbal::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
                                                 const AMOV_GIMBAL_VELOCITY_T &speed,
-                                                const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+                                                const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
-    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(quaterion, speed, acc, extenData);
+    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(quaterion, speed, acc,lng, lat, alt, nState, relAlt, extenData);
 }
 
 uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
                                                          const AMOV_GIMBAL_VELOCITY_T &speed,
-                                                         const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+                                                         const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
     return 0;
 }
 
 uint32_t amovGimbal::gimbal::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
                                                 const AMOV_GIMBAL_VELOCITY_T &speed,
-                                                const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+                                                const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
-    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(pos, speed, acc, extenData);
+    return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(pos, speed, acc, lng, lat, alt, nState, relAlt,extenData);
 }
 
 uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
                                                          const AMOV_GIMBAL_VELOCITY_T &speed,
-                                                         const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
+                                                         const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
     return 0;
 }
diff --git a/gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp b/gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp
index 6ab2623..50fac55 100644
--- a/gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp
+++ b/gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp
@@ -98,16 +98,16 @@ uint32_t amovGimbalSetVideo(AMOV_GIMBAL_VIDEO_T newState, void *handle)
 
 uint32_t amovGimbalAttitudeCorrectionQ(AMOV_GIMBAL_QUATERNION_T *quaterion,
                                        AMOV_GIMBAL_VELOCITY_T *speed,
-                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle)
+                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, float lng, float lat, float alt, uint32_t nState, float relAlt,void *handle)
 {
-    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*quaterion, *speed, *acc, extenData);
+    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*quaterion, *speed, *acc, lng, lat, alt, nState, relAlt,extenData);
 }
 
 uint32_t amovGimbalAttitudeCorrectionE(AMOV_GIMBAL_POS_T *pos,
                                        AMOV_GIMBAL_VELOCITY_T *speed,
-                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle)
+                                       AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, float lng, float lat, float alt, uint32_t nState, float relAlt,void *handle)
 {
-    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*pos, *speed, *acc, extenData);
+    return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*pos, *speed, *acc, lng, lat, alt, nState, relAlt,extenData);
 }
 
 uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt, void *handle)
diff --git a/gimbal_ctrl/driver/src/amov_gimbal_private.h b/gimbal_ctrl/driver/src/amov_gimbal_private.h
index 8b815b9..f90365a 100644
--- a/gimbal_ctrl/driver/src/amov_gimbal_private.h
+++ b/gimbal_ctrl/driver/src/amov_gimbal_private.h
@@ -90,8 +90,8 @@ namespace amovGimbal
         virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
         virtual uint32_t takePic(void);
         virtual uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
-        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
-        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
+        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
+        virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
         virtual uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
         virtual uint32_t setDownwardShootingMode();
         virtual uint32_t extensionFuntions(void *cmd);
diff --git a/gimbal_ctrl/sv_gimbal.cpp b/gimbal_ctrl/sv_gimbal.cpp
index be3bee7..6f6aad6 100644
--- a/gimbal_ctrl/sv_gimbal.cpp
+++ b/gimbal_ctrl/sv_gimbal.cpp
@@ -517,7 +517,7 @@ void sv::Gimbal::setAngleRateEuler(double roll_rate, double pitch_rate, double y
 }
 void sv::Gimbal::attitudeCorrection(const GimbalQuaternionT &quaterion,
                                     const GimbalVelocityT &speed,
-                                    const GimbalVelocityT &acc, void *extenData)
+                                    const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
     AMOV_GIMBAL_QUATERNION_T temp_q;
@@ -535,12 +535,12 @@ void sv::Gimbal::attitudeCorrection(const GimbalQuaternionT &quaterion,
     temp_v2.y = acc.y;
     temp_v2.z = acc.z;
 
-    pdevTemp->attitudeCorrection(temp_q, temp_v1, temp_v2, extenData);
+    pdevTemp->attitudeCorrection(temp_q, temp_v1, temp_v2, lng, lat, alt, nState, relAlt,extenData);
 }
 
 void sv::Gimbal::attitudeCorrection(const GimbalPosT &pos,
                                     const GimbalVelocityT &speed,
-                                    const GimbalVelocityT &acc, void *extenData)
+                                    const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
 {
     amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
     AMOV_GIMBAL_VELOCITY_T temp_v1, temp_v2;
@@ -557,7 +557,7 @@ void sv::Gimbal::attitudeCorrection(const GimbalPosT &pos,
     temp_p.yaw = pos.yaw;
     temp_p.roll = pos.roll;
 
-    pdevTemp->attitudeCorrection(temp_p, temp_v1, temp_v2, extenData);
+    pdevTemp->attitudeCorrection(temp_p, temp_v1, temp_v2, lng, lat, alt, nState, relAlt,extenData);
 }
 
 void sv::Gimbal::setDownwardShootingMode()
diff --git a/include/sv_gimbal.h b/include/sv_gimbal.h
index 294e55b..679a341 100644
--- a/include/sv_gimbal.h
+++ b/include/sv_gimbal.h
@@ -190,10 +190,10 @@ namespace sv
     int getVideoState();
     void attitudeCorrection(const GimbalQuaternionT &quaterion,
                                     const GimbalVelocityT &speed,
-                                    const GimbalVelocityT &acc, void *extenData);
+                                    const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
     void attitudeCorrection(const GimbalPosT &pos,
                                     const GimbalVelocityT &speed,
-                                    const GimbalVelocityT &acc, void *extenData);
+                                    const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
 
     void setDownwardShootingMode();