diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java
index 340d2ac..6621918 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java
@@ -44,63 +44,67 @@
      */
     public static RobotInfo decodeRobotInfo(byte[] bytes) {
         RobotInfo robot = new RobotInfo();
-        robot.setRobotId(ByteUtils.byteToUnsigned(bytes[4]));
-        robot.setReceiveTime(TimeUtil.getCurrentTime());
+        try {
+            robot.setRobotId((int) bytes[4]);
+            robot.setReceiveTime(TimeUtil.getCurrentTime());
 
-        byte[] lngBytes = new byte[4];
-        System.arraycopy(bytes, 5, lngBytes, 0, 4);
-        robot.setLng(covertLngLat(lngBytes));
+            byte[] lngBytes = new byte[4];
+            System.arraycopy(bytes, 5, lngBytes, 0, 4);
+            robot.setLng(covertLngLat(lngBytes));
 
-        byte[] latBytes = new byte[4];
-        System.arraycopy(bytes, 9, latBytes, 0, 4);
-        robot.setLat(covertLngLat(latBytes));
+            byte[] latBytes = new byte[4];
+            System.arraycopy(bytes, 9, latBytes, 0, 4);
+            robot.setLat(covertLngLat(latBytes));
 
-        robot.setNavigateState(covertState(bytes[13]));
-        robot.setInstrumentV((float) (ByteUtils.byteToUnsigned(bytes[14]) * 0.1));
-        robot.setPowerV((float) ByteUtils.byteToUnsigned(bytes[15]));
-        robot.setInstrumentE((float) ByteUtils.byteToUnsigned(bytes[16]));
-        robot.setPowerE((float) ByteUtils.byteToUnsigned(bytes[17]));
+            robot.setNavigateState(covertState(bytes[13]));
+            robot.setInstrumentV((float) (ByteUtils.byteToUnsigned(bytes[14]) * 0.1));
+            robot.setPowerV((float) ByteUtils.byteToUnsigned(bytes[15]));
+            robot.setInstrumentE((float) ByteUtils.byteToUnsigned(bytes[16]));
+            robot.setPowerE((float) ByteUtils.byteToUnsigned(bytes[17]));
 
-        byte[] pitchAngleBytes = new byte[2];
-        System.arraycopy(bytes, 18, pitchAngleBytes, 0, 2);
-        robot.setPitchAngle(covertPitchAngle(pitchAngleBytes));
+            byte[] pitchAngleBytes = new byte[2];
+            System.arraycopy(bytes, 18, pitchAngleBytes, 0, 2);
+            robot.setPitchAngle(covertPitchAngle(pitchAngleBytes));
 
-        byte[] rollAngleBytes = new byte[2];
-        System.arraycopy(bytes, 20, rollAngleBytes, 0, 2);
-        robot.setRollAngle(covertRollAngle(rollAngleBytes));
+            byte[] rollAngleBytes = new byte[2];
+            System.arraycopy(bytes, 20, rollAngleBytes, 0, 2);
+            robot.setRollAngle(covertRollAngle(rollAngleBytes));
 
-        byte[] headingAngleBytes = new byte[2];
-        System.arraycopy(bytes, 22, headingAngleBytes, 0, 2);
-        robot.setHeadingAngle(covertHeadingAngle(headingAngleBytes));
+            byte[] headingAngleBytes = new byte[2];
+            System.arraycopy(bytes, 22, headingAngleBytes, 0, 2);
+            robot.setHeadingAngle(covertHeadingAngle(headingAngleBytes));
 
-        byte[] buoyancyBytes = new byte[2];
-        System.arraycopy(bytes, 24, buoyancyBytes, 0, 2);
-        robot.setBuoyancy(covertBuoyancy(buoyancyBytes));
+            byte[] buoyancyBytes = new byte[2];
+            System.arraycopy(bytes, 24, buoyancyBytes, 0, 2);
+            robot.setBuoyancy(covertBuoyancy(buoyancyBytes));
 
-        byte[] positionBytes = new byte[2];
-        System.arraycopy(bytes, 26, positionBytes, 0, 2);
-        //滑块位置算法和浮力算法一样
-        robot.setPosition(covertBuoyancy(positionBytes));
+            byte[] positionBytes = new byte[2];
+            System.arraycopy(bytes, 26, positionBytes, 0, 2);
+            //滑块位置算法和浮力算法一样
+            robot.setPosition(covertBuoyancy(positionBytes));
 
-        int status = bytes[28];
-        if (status == 0) {
-            robot.setDetectStatus("没有目标");
-        } else {
-            robot.setDetectStatus("发现目标");
+            int status = bytes[28];
+            if (status == 0) {
+                robot.setDetectStatus("没有目标");
+            } else {
+                robot.setDetectStatus("发现目标");
+            }
+
+            byte[] targetDisBytes = new byte[2];
+            System.arraycopy(bytes, 29, targetDisBytes, 0, 2);
+            robot.setTargetDistance(covertTargetDistance(targetDisBytes));
+
+            byte[] targetDirBytes = new byte[2];
+            System.arraycopy(bytes, 31, targetDirBytes, 0, 2);
+            //目标方位算法和航向角算法一样
+            robot.setTargetDirection(covertHeadingAngle(targetDirBytes));
+
+            byte[] targetHzBytes = new byte[2];
+            System.arraycopy(bytes, 33, targetHzBytes, 0, 2);
+            robot.setTargetHertz(covertTargetHertz(targetHzBytes));
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
         }
-
-        byte[] targetDisBytes = new byte[2];
-        System.arraycopy(bytes, 29, targetDisBytes, 0, 2);
-        robot.setTargetDistance(covertTargetDistance(targetDisBytes));
-
-        byte[] targetDirBytes = new byte[2];
-        System.arraycopy(bytes, 31, targetDirBytes, 0, 2);
-        //目标方位算法和航向角算法一样
-        robot.setTargetDirection(covertHeadingAngle(targetDirBytes));
-
-        byte[] targetHzBytes = new byte[2];
-        System.arraycopy(bytes, 33, targetHzBytes, 0, 2);
-        robot.setTargetHertz(covertTargetHertz(targetHzBytes));
         return robot;
     }
 
@@ -124,44 +128,48 @@
      */
     public static String decodeRobotRegion(byte[] bytes) {
         Map<String, Object> regionMap = new HashMap<>(7);
-        int count = bytes[5];
-        regionMap.put("count", count);
+        try {
+            int count = bytes[5];
+            regionMap.put("count", count);
 
-        byte[] idsBytes = new byte[count];
-        System.arraycopy(bytes, 6, idsBytes, 0, count);
-        StringBuilder builder = new StringBuilder();
-        for (int i = 0; i < idsBytes.length; i++) {
-            if (i != idsBytes.length - 1) {
-                builder.append(idsBytes[i]).append(",");
-            } else {
-                builder.append(idsBytes[i]);
+            byte[] idsBytes = new byte[count];
+            System.arraycopy(bytes, 6, idsBytes, 0, count);
+            StringBuilder builder = new StringBuilder();
+            for (int i = 0; i < idsBytes.length; i++) {
+                if (i != idsBytes.length - 1) {
+                    builder.append(idsBytes[i]).append(",");
+                } else {
+                    builder.append(idsBytes[i]);
+                }
             }
+            regionMap.put("robotIds", builder.toString());
+
+            //经度(4)、纬度(4)
+            int targetSize = count * (4 + 4);
+            byte[] targetBytes = new byte[targetSize];
+            //起始5个字节，机器人个数1个字节
+            System.arraycopy(bytes, 5 + 1 + idsBytes.length, targetBytes, 0, targetBytes.length);
+            regionMap.put("robotTargets", formatLngLat(targetBytes));
+
+            int pointCount = bytes[5 + 1 + idsBytes.length + targetBytes.length];
+            regionMap.put("pointCount", pointCount);
+
+            byte[] radiusBytes = new byte[2];
+            System.arraycopy(bytes, 5 + 1 + idsBytes.length + targetBytes.length + 1, radiusBytes, 0, radiusBytes.length);
+            regionMap.put("regionRadius", covertTargetDistance(radiusBytes));
+
+            regionMap.put("contour", bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]);
+
+            //经度(4)、纬度(4)
+            int regionSize = pointCount * (4 + 4);
+            byte[] regionBytes = new byte[regionSize];
+            System.arraycopy(bytes,
+                    5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length + 1,
+                    regionBytes, 0, regionBytes.length);
+            regionMap.put("regionPoints", formatLngLat(regionBytes));
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
         }
-        regionMap.put("robotIds", builder.toString());
-
-        //经度(4)、纬度(4)
-        int targetSize = count * (4 + 4);
-        byte[] targetBytes = new byte[targetSize];
-        //起始5个字节，机器人个数1个字节
-        System.arraycopy(bytes, 5 + 1 + idsBytes.length, targetBytes, 0, targetBytes.length);
-        regionMap.put("robotTargets", formatLngLat(targetBytes));
-
-        int pointCount = bytes[5 + 1 + idsBytes.length + targetBytes.length];
-        regionMap.put("pointCount", pointCount);
-
-        byte[] radiusBytes = new byte[2];
-        System.arraycopy(bytes, 5 + 1 + idsBytes.length + targetBytes.length + 1, radiusBytes, 0, radiusBytes.length);
-        regionMap.put("regionRadius", covertTargetDistance(radiusBytes));
-
-        regionMap.put("contour", bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]);
-
-        //经度(4)、纬度(4)
-        int regionSize = pointCount * (4 + 4);
-        byte[] regionBytes = new byte[regionSize];
-        System.arraycopy(bytes,
-                5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length + 1,
-                regionBytes, 0, regionBytes.length);
-        regionMap.put("regionPoints", formatLngLat(regionBytes));
         return JSON.toJSONString(regionMap);
     }
 
@@ -170,35 +178,38 @@
      */
     public static String decodeRobotRoute(byte[] bytes) {
         Map<String, Object> routeMap = new HashMap<>(5);
+        try {
+            byte[] countBytes = new byte[2];
+            System.arraycopy(bytes, 5, countBytes, 0, 2);
+            int count = covertToDec(countBytes);
+            routeMap.put("routeCount", covertToDec(countBytes));
 
-        byte[] countBytes = new byte[2];
-        System.arraycopy(bytes, 5, countBytes, 0, 2);
-        int count = covertToDec(countBytes);
-        routeMap.put("routeCount", covertToDec(countBytes));
+            //经度(4)、纬度(4)、深度(2)、俯仰角(2)、航向角(2)
+            int routeSize = count * (4 + 4 + 2 + 2 + 2);
+            byte[] routeBytes = new byte[routeSize];
+            System.arraycopy(bytes, 5 + countBytes.length, routeBytes, 0, routeSize);
+            routeMap.put("robotRoutes", formatRoute(routeBytes));
 
-        //经度(4)、纬度(4)、深度(2)、俯仰角(2)、航向角(2)
-        int routeSize = count * (4 + 4 + 2 + 2 + 2);
-        byte[] routeBytes = new byte[routeSize];
-        System.arraycopy(bytes, 5 + countBytes.length, routeBytes, 0, routeSize);
-        routeMap.put("robotRoutes", formatRoute(routeBytes));
+            byte[] sumTimeBytes = new byte[2];
+            System.arraycopy(bytes,
+                    5 + countBytes.length + routeBytes.length,
+                    sumTimeBytes, 0, 2);
+            routeMap.put("sumTime", covertToDec(sumTimeBytes));
 
-        byte[] sumTimeBytes = new byte[2];
-        System.arraycopy(bytes,
-                5 + countBytes.length + routeBytes.length,
-                sumTimeBytes, 0, 2);
-        routeMap.put("sumTime", covertToDec(sumTimeBytes));
+            byte[] sumDistanceBytes = new byte[2];
+            System.arraycopy(bytes,
+                    5 + countBytes.length + routeBytes.length + sumTimeBytes.length,
+                    sumDistanceBytes, 0, 2);
+            routeMap.put("sumDistance", covertToDec(sumDistanceBytes));
 
-        byte[] sumDistanceBytes = new byte[2];
-        System.arraycopy(bytes,
-                5 + countBytes.length + routeBytes.length + sumTimeBytes.length,
-                sumDistanceBytes, 0, 2);
-        routeMap.put("sumDistance", covertToDec(sumDistanceBytes));
-
-        byte[] sumPowerBytes = new byte[2];
-        System.arraycopy(bytes,
-                5 + countBytes.length + routeBytes.length + sumTimeBytes.length + sumDistanceBytes.length,
-                sumPowerBytes, 0, 2);
-        routeMap.put("sumPower", covertToDec(sumPowerBytes));
+            byte[] sumPowerBytes = new byte[2];
+            System.arraycopy(bytes,
+                    5 + countBytes.length + routeBytes.length + sumTimeBytes.length + sumDistanceBytes.length,
+                    sumPowerBytes, 0, 2);
+            routeMap.put("sumPower", covertToDec(sumPowerBytes));
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
+        }
         return JSON.toJSONString(routeMap);
     }
 
@@ -208,20 +219,24 @@
      */
     public static String decodeDirectedTask(byte[] bytes) {
         Map<String, Object> taskMap = new HashMap<>(2);
-        byte[] depthBytes = new byte[2];
-        System.arraycopy(bytes, 5, depthBytes, 0, 2);
-        taskMap.put("taskDepth", covertDepth(depthBytes));
+        try {
+            byte[] depthBytes = new byte[2];
+            System.arraycopy(bytes, 5, depthBytes, 0, 2);
+            taskMap.put("taskDepth", covertDepth(depthBytes));
 
-        int directCount = bytes[7];
-        taskMap.put("directCount", directCount);
+            int directCount = bytes[7];
+            taskMap.put("directCount", directCount);
 
-        List<Double> angleList = new ArrayList<>();
-        for (int i = 0; i < directCount * 2; i += 2) {
-            byte[] angleBytes = new byte[2];
-            System.arraycopy(bytes, i + 8, angleBytes, 0, 2);
-            angleList.add(covertHeadingAngle(angleBytes));
+            List<Double> angleList = new ArrayList<>();
+            for (int i = 0; i < directCount * 2; i += 2) {
+                byte[] angleBytes = new byte[2];
+                System.arraycopy(bytes, i + 8, angleBytes, 0, 2);
+                angleList.add(covertHeadingAngle(angleBytes));
+            }
+            taskMap.put("headingAngle", angleList);
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
         }
-        taskMap.put("headingAngle", angleList);
         return JSON.toJSONString(taskMap);
     }
 
@@ -240,19 +255,22 @@
      */
     public static String decodeTaskRoute(byte[] bytes) {
         Map<String, Object> taskMap = new HashMap<>(3);
+        try {
+            byte[] depthBytes = new byte[2];
+            System.arraycopy(bytes, 5, depthBytes, 0, 2);
+            taskMap.put("taskDepth", covertDepth(depthBytes));
 
-        byte[] depthBytes = new byte[2];
-        System.arraycopy(bytes, 5, depthBytes, 0, 2);
-        taskMap.put("taskDepth", covertDepth(depthBytes));
+            int count = bytes[7];
+            taskMap.put("routeCount", count);
 
-        int count = bytes[7];
-        taskMap.put("routeCount", count);
-
-        //经度(4)、纬度(4)
-        int routeSize = count * (4 + 4);
-        byte[] routeBytes = new byte[routeSize];
-        System.arraycopy(bytes, 8, routeBytes, 0, routeSize);
-        taskMap.put("robotRoutes", formatLngLat(routeBytes));
+            //经度(4)、纬度(4)
+            int routeSize = count * (4 + 4);
+            byte[] routeBytes = new byte[routeSize];
+            System.arraycopy(bytes, 8, routeBytes, 0, routeSize);
+            taskMap.put("robotRoutes", formatLngLat(routeBytes));
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
+        }
         return JSON.toJSONString(taskMap);
     }
 
@@ -261,17 +279,21 @@
      */
     public static String decodeDirectFlightTask(byte[] bytes) {
         Map<String, Object> taskMap = new HashMap<>(3);
-        byte[] depthBytes = new byte[2];
-        System.arraycopy(bytes, 5, depthBytes, 0, 2);
-        taskMap.put("taskDepth", covertDepth(depthBytes));
+        try {
+            byte[] depthBytes = new byte[2];
+            System.arraycopy(bytes, 5, depthBytes, 0, 2);
+            taskMap.put("taskDepth", covertDepth(depthBytes));
 
-        byte[] angleBytes = new byte[2];
-        System.arraycopy(bytes, 7, angleBytes, 0, 2);
-        taskMap.put("headingAngle", covertHeadingAngle(angleBytes));
+            byte[] angleBytes = new byte[2];
+            System.arraycopy(bytes, 7, angleBytes, 0, 2);
+            taskMap.put("headingAngle", covertHeadingAngle(angleBytes));
 
-        byte[] timesBytes = new byte[2];
-        System.arraycopy(bytes, 9, timesBytes, 0, 2);
-        taskMap.put("duration", covertToDec(timesBytes));
+            byte[] timesBytes = new byte[2];
+            System.arraycopy(bytes, 9, timesBytes, 0, 2);
+            taskMap.put("duration", covertToDec(timesBytes));
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
+        }
         return JSON.toJSONString(taskMap);
     }
 
@@ -280,21 +302,25 @@
      */
     public static String decodeResideTask(byte[] bytes) {
         Map<String, Object> taskMap = new HashMap<>(4);
-        byte[] lngBytes = new byte[4];
-        System.arraycopy(bytes, 5, lngBytes, 0, 4);
-        taskMap.put("lng", covertLngLat(lngBytes));
+        try {
+            byte[] lngBytes = new byte[4];
+            System.arraycopy(bytes, 5, lngBytes, 0, 4);
+            taskMap.put("lng", covertLngLat(lngBytes));
 
-        byte[] latBytes = new byte[4];
-        System.arraycopy(bytes, 9, latBytes, 0, 4);
-        taskMap.put("lat", covertLngLat(latBytes));
+            byte[] latBytes = new byte[4];
+            System.arraycopy(bytes, 9, latBytes, 0, 4);
+            taskMap.put("lat", covertLngLat(latBytes));
 
-        byte[] angleBytes = new byte[2];
-        System.arraycopy(bytes, 13, angleBytes, 0, 2);
-        taskMap.put("depth", covertDepth(angleBytes));
+            byte[] angleBytes = new byte[2];
+            System.arraycopy(bytes, 13, angleBytes, 0, 2);
+            taskMap.put("depth", covertDepth(angleBytes));
 
-        byte[] timesBytes = new byte[2];
-        System.arraycopy(bytes, 15, timesBytes, 0, 2);
-        taskMap.put("duration", covertToDec(timesBytes));
+            byte[] timesBytes = new byte[2];
+            System.arraycopy(bytes, 15, timesBytes, 0, 2);
+            taskMap.put("duration", covertToDec(timesBytes));
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
+        }
         return JSON.toJSONString(taskMap);
     }
 
@@ -303,28 +329,32 @@
      */
     public static String decodePutTask(byte[] bytes) {
         Map<String, Object> taskMap = new HashMap<>(4);
-        byte[] lngBytes = new byte[4];
-        System.arraycopy(bytes, 5, lngBytes, 0, 4);
-        taskMap.put("lng", covertLngLat(lngBytes));
+        try {
+            byte[] lngBytes = new byte[4];
+            System.arraycopy(bytes, 5, lngBytes, 0, 4);
+            taskMap.put("lng", covertLngLat(lngBytes));
 
-        byte[] latBytes = new byte[4];
-        System.arraycopy(bytes, 9, latBytes, 0, 4);
-        taskMap.put("lat", covertLngLat(latBytes));
+            byte[] latBytes = new byte[4];
+            System.arraycopy(bytes, 9, latBytes, 0, 4);
+            taskMap.put("lat", covertLngLat(latBytes));
 
-        int count = bytes[13];
-        taskMap.put("count", count);
+            int count = bytes[13];
+            taskMap.put("count", count);
 
-        byte[] idsBytes = new byte[count];
-        System.arraycopy(bytes, 14, idsBytes, 0, count);
-        StringBuilder builder = new StringBuilder();
-        for (int i = 0; i < idsBytes.length; i++) {
-            if (i != idsBytes.length - 1) {
-                builder.append(idsBytes[i]).append(",");
-            } else {
-                builder.append(idsBytes[i]);
+            byte[] idsBytes = new byte[count];
+            System.arraycopy(bytes, 14, idsBytes, 0, count);
+            StringBuilder builder = new StringBuilder();
+            for (int i = 0; i < idsBytes.length; i++) {
+                if (i != idsBytes.length - 1) {
+                    builder.append(idsBytes[i]).append(",");
+                } else {
+                    builder.append(idsBytes[i]);
+                }
             }
+            taskMap.put("ids", builder.toString());
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
         }
-        taskMap.put("ids", builder.toString());
         return JSON.toJSONString(taskMap);
     }
 
@@ -332,14 +362,18 @@
      * 短信内容
      */
     public static String decodeSMS(byte[] bytes) {
-        //帧头、帧长度、帧类型、子类型、机器人ID，CRC16校验码、帧尾总长度=8
-        int dataLen = bytes.length - 8;
-
-        byte[] dataBytes = new byte[dataLen];
-        System.arraycopy(bytes, 5, dataBytes, 0, dataLen);
         StringBuilder builder = new StringBuilder();
-        for (int dataByte : dataBytes) {
-            builder.append((char) dataByte);
+        try {
+            //帧头、帧长度、帧类型、子类型、机器人ID，CRC16校验码、帧尾总长度=8
+            int dataLen = bytes.length - 8;
+
+            byte[] dataBytes = new byte[dataLen];
+            System.arraycopy(bytes, 5, dataBytes, 0, dataLen);
+            for (int dataByte : dataBytes) {
+                builder.append((char) dataByte);
+            }
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
         }
         return builder.toString();
     }
@@ -349,22 +383,25 @@
      */
     public static String decodeEnvRequest(byte[] bytes) {
         Map<String, Object> envMap = new HashMap<>(4);
-        if (bytes[5] <= 0) {
-            envMap.put("hour", "0");
+        try {
+            if (bytes[5] <= 0) {
+                envMap.put("hour", "0");
+            }
+            if (bytes[5] >= 24) {
+                envMap.put("hour", "24");
+            }
+            envMap.put("hour", String.valueOf(bytes[5]));
+
+            byte[] lngBytes = new byte[4];
+            System.arraycopy(bytes, 5 + 1, lngBytes, 0, 4);
+            envMap.put("lng", covertLngLat(lngBytes));
+
+            byte[] latBytes = new byte[4];
+            System.arraycopy(bytes, 5 + 1 + lngBytes.length, latBytes, 0, 4);
+            envMap.put("lat", covertLngLat(latBytes));
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
         }
-        if (bytes[5] >= 24) {
-            envMap.put("hour", "24");
-        }
-        envMap.put("hour", String.valueOf(bytes[5]));
-
-        byte[] lngBytes = new byte[4];
-        System.arraycopy(bytes, 5 + 1, lngBytes, 0, 4);
-        envMap.put("lng", covertLngLat(lngBytes));
-
-        byte[] latBytes = new byte[4];
-        System.arraycopy(bytes, 5 + 1 + lngBytes.length, latBytes, 0, 4);
-        envMap.put("lat", covertLngLat(latBytes));
-
         return JSON.toJSONString(envMap);
     }
 
@@ -373,17 +410,21 @@
      */
     public static String decodeAISRequest(byte[] bytes) {
         Map<String, Object> aisMap = new HashMap<>(4);
-        aisMap.put("radius", bytes[5]);
+        try {
+            aisMap.put("radius", bytes[5]);
 
-        byte[] lngBytes = new byte[4];
-        System.arraycopy(bytes, 5 + 1, lngBytes, 0, 4);
-        aisMap.put("lng", covertLngLat(lngBytes));
+            byte[] lngBytes = new byte[4];
+            System.arraycopy(bytes, 5 + 1, lngBytes, 0, 4);
+            aisMap.put("lng", covertLngLat(lngBytes));
 
-        byte[] latBytes = new byte[4];
-        System.arraycopy(bytes, 5 + 1 + lngBytes.length, latBytes, 0, 4);
-        aisMap.put("lat", covertLngLat(latBytes));
+            byte[] latBytes = new byte[4];
+            System.arraycopy(bytes, 5 + 1 + lngBytes.length, latBytes, 0, 4);
+            aisMap.put("lat", covertLngLat(latBytes));
 
-        aisMap.put("age", bytes[5 + 1 + lngBytes.length + latBytes.length]);
+            aisMap.put("age", bytes[5 + 1 + lngBytes.length + latBytes.length]);
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
+        }
         return JSON.toJSONString(aisMap);
     }
 
@@ -394,15 +435,19 @@
      */
     public static ShelterPosition decodeShelterPosition(byte[] bytes) {
         ShelterPosition shelter = new ShelterPosition();
-        byte[] lngBytes = new byte[4];
-        System.arraycopy(bytes, 5, lngBytes, 0, 4);
-        shelter.setLng(covertLngLat(lngBytes));
+        try {
+            byte[] lngBytes = new byte[4];
+            System.arraycopy(bytes, 5, lngBytes, 0, 4);
+            shelter.setLng(covertLngLat(lngBytes));
 
-        byte[] latBytes = new byte[4];
-        System.arraycopy(bytes, 9, latBytes, 0, 4);
-        shelter.setLat(covertLngLat(latBytes));
+            byte[] latBytes = new byte[4];
+            System.arraycopy(bytes, 9, latBytes, 0, 4);
+            shelter.setLat(covertLngLat(latBytes));
 
-        shelter.setCreateTime(TimeUtil.getCurrentTime());
+            shelter.setCreateTime(TimeUtil.getCurrentTime());
+        } catch (IndexOutOfBoundsException e) {
+            e.printStackTrace();
+        }
         return shelter;
     }