diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/ByteUtils.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/ByteUtils.java
index e7c6da0..53b22a7 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/ByteUtils.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/ByteUtils.java
@@ -36,4 +36,18 @@
         }
         return array;
     }
+
+    /**
+     * 将负值byte补位为无符号byte
+     * C/C++/C#都有无符号数据类型，Java需要补位转换
+     */
+    public static int byteToUnsigned(byte data) {
+        int temp;
+        if (data < 0) {
+            temp = 0xFF & data;
+        } else {
+            temp = data;
+        }
+        return temp;
+    }
 }

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/ByteUtils.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/ByteUtils.java
index e7c6da0..53b22a7 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/ByteUtils.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/ByteUtils.java
@@ -36,4 +36,18 @@
         }
         return array;
     }
+
+    /**
+     * 将负值byte补位为无符号byte
+     * C/C++/C#都有无符号数据类型，Java需要补位转换
+     */
+    public static int byteToUnsigned(byte data) {
+        int temp;
+        if (data < 0) {
+            temp = 0xFF & data;
+        } else {
+            temp = data;
+        }
+        return temp;
+    }
 }
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 b773321..31a9256 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
@@ -44,7 +44,7 @@
      */
     public static RobotInfo decodeRobotInfo(byte[] bytes) {
         RobotInfo robot = new RobotInfo();
-        robot.setRobotId((int) bytes[4]);
+        robot.setRobotId(ByteUtils.byteToUnsigned(bytes[4]));
         robot.setReceiveTime(TimeUtil.getCurrentTime());
 
         byte[] lngBytes = new byte[4];
@@ -56,10 +56,10 @@
         robot.setLat(covertLngLat(latBytes));
 
         robot.setNavigateState(covertState(bytes[13]));
-        robot.setInstrumentV((float) (bytes[14] * 0.1));
-        robot.setPowerV((float) bytes[15]);
-        robot.setInstrumentE((float) (bytes[16]));
-        robot.setPowerE((float) (bytes[17]));
+        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);
@@ -584,4 +584,6 @@
         ) / (Math.pow(2, 31) - 1);
         return 180 * per;
     }
+
+
 }