diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
index dc69c33..55c8156 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
@@ -7,9 +7,9 @@
  */
 public class Constant {
 
-    public static final int BITS_OF_HEAD = 0x2A;
-    public static final int BITS_OF_END = 0x0A;
-    public static final int SHELTER_ID = 0xFF;
+    public static final byte BITS_OF_HEAD = (byte) 0x2A;
+    public static final byte BITS_OF_END = (byte) 0x0A;
+    public static final byte SHELTER_ID = (byte) 0xFF;
 
     /**
      * 洋流相关常量

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
index dc69c33..55c8156 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
@@ -7,9 +7,9 @@
  */
 public class Constant {
 
-    public static final int BITS_OF_HEAD = 0x2A;
-    public static final int BITS_OF_END = 0x0A;
-    public static final int SHELTER_ID = 0xFF;
+    public static final byte BITS_OF_HEAD = (byte) 0x2A;
+    public static final byte BITS_OF_END = (byte) 0x0A;
+    public static final byte SHELTER_ID = (byte) 0xFF;
 
     /**
      * 洋流相关常量
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 b18e3ad..ed3cabe 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
@@ -16,16 +16,16 @@
     /**
      * 水下机器人信息
      */
-    public static RobotInfo decodeRobotInfo(int[] bytes) {
+    public static RobotInfo decodeRobotInfo(byte[] bytes) {
         RobotInfo robot = new RobotInfo();
 
-        robot.setRobotId(bytes[4]);
+        robot.setRobotId((int) bytes[4]);
 
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 5, lngBytes, 0, 4);
         robot.setLng(covertLngLat(lngBytes));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 9, latBytes, 0, 4);
         robot.setLat(covertLngLat(latBytes));
 
@@ -35,23 +35,23 @@
         robot.setInstrumentE((float) (bytes[16]));
         robot.setPowerE((float) (bytes[17]));
 
-        int[] pitchAngleBytes = new int[2];
+        byte[] pitchAngleBytes = new byte[2];
         System.arraycopy(bytes, 18, pitchAngleBytes, 0, 2);
         robot.setPitchAngle(covertPitchAngle(pitchAngleBytes));
 
-        int[] rollAngleBytes = new int[2];
+        byte[] rollAngleBytes = new byte[2];
         System.arraycopy(bytes, 20, rollAngleBytes, 0, 2);
         robot.setRollAngle(covertRollAngle(rollAngleBytes));
 
-        int[] headingAngleBytes = new int[2];
+        byte[] headingAngleBytes = new byte[2];
         System.arraycopy(bytes, 22, headingAngleBytes, 0, 2);
         robot.setHeadingAngle(covertHeadingAngle(headingAngleBytes));
 
-        int[] buoyancyBytes = new int[2];
+        byte[] buoyancyBytes = new byte[2];
         System.arraycopy(bytes, 24, buoyancyBytes, 0, 2);
         robot.setBuoyancy(covertBuoyancy(buoyancyBytes));
 
-        int[] positionBytes = new int[2];
+        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));
@@ -63,16 +63,16 @@
             robot.setDetectStatus("发现目标");
         }
 
-        int[] targetDisBytes = new int[2];
+        byte[] targetDisBytes = new byte[2];
         System.arraycopy(bytes, 29, targetDisBytes, 0, 2);
         robot.setTargetDistance(covertTargetDistance(targetDisBytes));
 
-        int[] targetDirBytes = new int[2];
+        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));
 
-        int[] targetHzBytes = new int[2];
+        byte[] targetHzBytes = new byte[2];
         System.arraycopy(bytes, 33, targetHzBytes, 0, 2);
         robot.setTargetHertz(covertTargetHertz(targetHzBytes));
         return robot;
@@ -81,12 +81,12 @@
     /**
      * 区域覆盖
      */
-    public static String decodeRobotRegion(int[] bytes) {
+    public static String decodeRobotRegion(byte[] bytes) {
         Map<String, String> regionMap = new HashMap<>();
         int count = bytes[4];
         regionMap.put("count", String.valueOf(count));
 
-        int[] idsBytes = new int[count];
+        byte[] idsBytes = new byte[count];
         System.arraycopy(bytes, 5, idsBytes, 0, count);
         StringBuilder builder = new StringBuilder();
         for (int i = 0; i < idsBytes.length; i++) {
@@ -100,14 +100,14 @@
 
         //经度和纬度，所以需要*2
         int targetSize = count * 2 * 4;
-        int[] targetBytes = new int[targetSize];
+        byte[] targetBytes = new byte[targetSize];
         //起始4个字节，机器人个数1个字节
         System.arraycopy(bytes, 5 + idsBytes.length, targetBytes, 0, targetSize);
         regionMap.put("robotTargets", formatLanLat(targetBytes));
 
         regionMap.put("pointCount", String.valueOf(bytes[5 + idsBytes.length + targetBytes.length]));
 
-        int[] radiusBytes = new int[2];
+        byte[] radiusBytes = new byte[2];
         System.arraycopy(bytes, 5 + idsBytes.length + targetBytes.length + 1, radiusBytes, 0, 2);
         regionMap.put("regionRadius", covertTargetDistance(radiusBytes));
 
@@ -120,7 +120,7 @@
 
         //经度和纬度，所以需要*2
         int pointSize = count * 2 * 4;
-        int[] pointBytes = new int[pointSize];
+        byte[] pointBytes = new byte[pointSize];
         System.arraycopy(bytes,
                 5 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length + 1,
                 pointBytes, 0, pointSize);
@@ -131,14 +131,14 @@
     /**
      * 路径规划
      */
-    public static String decodeRobotRoute(int[] bytes) {
+    public static String decodeRobotRoute(byte[] bytes) {
         Map<String, String> routeMap = new HashMap<>(2);
 
         int count = bytes[4];
         routeMap.put("routeCount", String.valueOf(count));
 
         int routeSize = count * 2 * 4;
-        int[] routeBytes = new int[routeSize];
+        byte[] routeBytes = new byte[routeSize];
         System.arraycopy(bytes, 5, routeBytes, 0, routeSize);
         routeMap.put("robotRoutes", formatLanLat(routeBytes));
         return JSON.toJSONString(routeMap);
@@ -147,13 +147,13 @@
     /**
      * 定向任务
      */
-    public static String decodeDirectedTask(int[] bytes) {
+    public static String decodeDirectedTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(2);
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("taskDepth", covertDepth(depthBytes) + "m");
 
-        int[] angleBytes = new int[2];
+        byte[] angleBytes = new byte[2];
         System.arraycopy(bytes, 6, angleBytes, 0, 2);
         taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°");
         return JSON.toJSONString(taskMap);
@@ -162,10 +162,10 @@
     /**
      * 航路点任务
      */
-    public static String decodeTaskRoute(int[] bytes) {
+    public static String decodeTaskRoute(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(3);
 
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("taskDepth", covertDepth(depthBytes) + "m");
 
@@ -173,7 +173,7 @@
         taskMap.put("routeCount", String.valueOf(count));
 
         int routeSize = count * 2 * 4;
-        int[] routeBytes = new int[routeSize];
+        byte[] routeBytes = new byte[routeSize];
         System.arraycopy(bytes, 7, routeBytes, 0, routeSize);
         taskMap.put("robotRoutes", formatLanLat(routeBytes));
         return JSON.toJSONString(taskMap);
@@ -182,17 +182,17 @@
     /**
      * 定深直航任务
      */
-    public static String decodeDirectFlightTask(int[] bytes) {
+    public static String decodeDirectFlightTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(3);
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("taskDepth", covertDepth(depthBytes) + "m");
 
-        int[] angleBytes = new int[2];
+        byte[] angleBytes = new byte[2];
         System.arraycopy(bytes, 6, angleBytes, 0, 2);
         taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°");
 
-        int[] timesBytes = new int[2];
+        byte[] timesBytes = new byte[2];
         System.arraycopy(bytes, 8, timesBytes, 0, 2);
         taskMap.put("time", covertToDec(timesBytes) + "s");
         return JSON.toJSONString(taskMap);
@@ -201,21 +201,21 @@
     /**
      * 驻留任务
      */
-    public static String decodeResideTask(int[] bytes) {
+    public static String decodeResideTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(4);
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 4, lngBytes, 0, 4);
         taskMap.put("lng", String.valueOf(covertLngLat(lngBytes)));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 8, latBytes, 0, 4);
         taskMap.put("lat", String.valueOf(covertLngLat(latBytes)));
 
-        int[] angleBytes = new int[2];
+        byte[] angleBytes = new byte[2];
         System.arraycopy(bytes, 12, angleBytes, 0, 2);
         taskMap.put("depth", covertDepth(angleBytes) + "m");
 
-        int[] timesBytes = new int[2];
+        byte[] timesBytes = new byte[2];
         System.arraycopy(bytes, 14, timesBytes, 0, 2);
         taskMap.put("time", covertToDec(timesBytes) + "min");
         return JSON.toJSONString(taskMap);
@@ -224,20 +224,20 @@
     /**
      * 投放任务
      */
-    public static String decodePutTask(int[] bytes) {
+    public static String decodePutTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(4);
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 4, lngBytes, 0, 4);
         taskMap.put("lng", String.valueOf(covertLngLat(lngBytes)));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 8, latBytes, 0, 4);
         taskMap.put("lat", String.valueOf(covertLngLat(latBytes)));
 
         int count = bytes[12];
         taskMap.put("count", String.valueOf(count));
 
-        int[] idsBytes = new int[count];
+        byte[] idsBytes = new byte[count];
         System.arraycopy(bytes, 13, idsBytes, 0, count);
         StringBuilder builder = new StringBuilder();
         for (int i = 0; i < idsBytes.length; i++) {
@@ -254,11 +254,11 @@
     /**
      * 短信内容
      */
-    public static String decodeSMS(int[] bytes) {
+    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;
 
-        int[] dataBytes = new int[dataLen];
+        byte[] dataBytes = new byte[dataLen];
         System.arraycopy(bytes, 5, dataBytes, 0, dataLen);
         StringBuilder builder = new StringBuilder();
         for (int dataByte : dataBytes) {
@@ -270,9 +270,9 @@
     /**
      * AIS数据请求
      */
-    public static String decodeAISRequest(int[] bytes) {
+    public static String decodeAISRequest(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(2);
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("radius", covertToDec(depthBytes) + "km");
 
@@ -285,13 +285,13 @@
      * 编码encode
      * 解码decode
      */
-    public static ShelterPosition decodeShelterPosition(int[] bytes) {
+    public static ShelterPosition decodeShelterPosition(byte[] bytes) {
         ShelterPosition shelter = new ShelterPosition();
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 5, lngBytes, 0, 4);
         shelter.setLng(covertLngLat(lngBytes));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 9, latBytes, 0, 4);
         shelter.setLat(covertLngLat(latBytes));
 
@@ -301,10 +301,10 @@
         return shelter;
     }
 
-    public static String formatLanLat(int[] targetBytes) {
+    public static String formatLanLat(byte[] targetBytes) {
         List<Double> lnglat = new ArrayList<>();
         for (int i = 0; i < targetBytes.length; i += 4) {
-            int[] target = new int[4];
+            byte[] target = new byte[4];
             System.arraycopy(targetBytes, i, target, 0, 4);
 
             //每4个字节转换一次经纬度
@@ -326,7 +326,7 @@
     /**
      * 十进制转换算法
      */
-    private static double covertToDec(int[] bytes) {
+    private static double covertToDec(byte[] bytes) {
         return ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
     }
@@ -334,7 +334,7 @@
     /**
      * 任务深度转换算法
      */
-    private static double covertDepth(int[] bytes) {
+    private static double covertDepth(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (a * 0.1);
@@ -343,7 +343,7 @@
     /**
      * 目标频率转换算法
      */
-    private static String covertTargetHertz(int[] bytes) {
+    private static String covertTargetHertz(byte[] bytes) {
         return ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF) + "hz";
     }
@@ -351,7 +351,7 @@
     /**
      * 目标距离转换算法
      */
-    private static String covertTargetDistance(int[] bytes) {
+    private static String covertTargetDistance(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01) + "km";
@@ -360,7 +360,7 @@
     /**
      * 横滚角转换算法
      */
-    private static float covertBuoyancy(int[] bytes) {
+    private static float covertBuoyancy(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01 - 100);
@@ -369,7 +369,7 @@
     /**
      * 横滚角转换算法
      */
-    private static float covertHeadingAngle(int[] bytes) {
+    private static float covertHeadingAngle(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01);
@@ -378,7 +378,7 @@
     /**
      * 横滚角转换算法
      */
-    private static float covertRollAngle(int[] bytes) {
+    private static float covertRollAngle(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01 - 180);
@@ -387,7 +387,7 @@
     /**
      * 俯仰角转换算法
      */
-    private static float covertPitchAngle(int[] bytes) {
+    private static float covertPitchAngle(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01 - 90);
@@ -420,7 +420,7 @@
     /**
      * 经纬度转换算法
      */
-    private static double covertLngLat(int[] bytes) {
+    private static double covertLngLat(byte[] bytes) {
         double per = (
                 ((bytes[0] & 0xFF) << 24) +
                         ((bytes[1] & 0xFF) << 16) +

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
index dc69c33..55c8156 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
@@ -7,9 +7,9 @@
  */
 public class Constant {
 
-    public static final int BITS_OF_HEAD = 0x2A;
-    public static final int BITS_OF_END = 0x0A;
-    public static final int SHELTER_ID = 0xFF;
+    public static final byte BITS_OF_HEAD = (byte) 0x2A;
+    public static final byte BITS_OF_END = (byte) 0x0A;
+    public static final byte SHELTER_ID = (byte) 0xFF;
 
     /**
      * 洋流相关常量
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 b18e3ad..ed3cabe 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
@@ -16,16 +16,16 @@
     /**
      * 水下机器人信息
      */
-    public static RobotInfo decodeRobotInfo(int[] bytes) {
+    public static RobotInfo decodeRobotInfo(byte[] bytes) {
         RobotInfo robot = new RobotInfo();
 
-        robot.setRobotId(bytes[4]);
+        robot.setRobotId((int) bytes[4]);
 
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 5, lngBytes, 0, 4);
         robot.setLng(covertLngLat(lngBytes));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 9, latBytes, 0, 4);
         robot.setLat(covertLngLat(latBytes));
 
@@ -35,23 +35,23 @@
         robot.setInstrumentE((float) (bytes[16]));
         robot.setPowerE((float) (bytes[17]));
 
-        int[] pitchAngleBytes = new int[2];
+        byte[] pitchAngleBytes = new byte[2];
         System.arraycopy(bytes, 18, pitchAngleBytes, 0, 2);
         robot.setPitchAngle(covertPitchAngle(pitchAngleBytes));
 
-        int[] rollAngleBytes = new int[2];
+        byte[] rollAngleBytes = new byte[2];
         System.arraycopy(bytes, 20, rollAngleBytes, 0, 2);
         robot.setRollAngle(covertRollAngle(rollAngleBytes));
 
-        int[] headingAngleBytes = new int[2];
+        byte[] headingAngleBytes = new byte[2];
         System.arraycopy(bytes, 22, headingAngleBytes, 0, 2);
         robot.setHeadingAngle(covertHeadingAngle(headingAngleBytes));
 
-        int[] buoyancyBytes = new int[2];
+        byte[] buoyancyBytes = new byte[2];
         System.arraycopy(bytes, 24, buoyancyBytes, 0, 2);
         robot.setBuoyancy(covertBuoyancy(buoyancyBytes));
 
-        int[] positionBytes = new int[2];
+        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));
@@ -63,16 +63,16 @@
             robot.setDetectStatus("发现目标");
         }
 
-        int[] targetDisBytes = new int[2];
+        byte[] targetDisBytes = new byte[2];
         System.arraycopy(bytes, 29, targetDisBytes, 0, 2);
         robot.setTargetDistance(covertTargetDistance(targetDisBytes));
 
-        int[] targetDirBytes = new int[2];
+        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));
 
-        int[] targetHzBytes = new int[2];
+        byte[] targetHzBytes = new byte[2];
         System.arraycopy(bytes, 33, targetHzBytes, 0, 2);
         robot.setTargetHertz(covertTargetHertz(targetHzBytes));
         return robot;
@@ -81,12 +81,12 @@
     /**
      * 区域覆盖
      */
-    public static String decodeRobotRegion(int[] bytes) {
+    public static String decodeRobotRegion(byte[] bytes) {
         Map<String, String> regionMap = new HashMap<>();
         int count = bytes[4];
         regionMap.put("count", String.valueOf(count));
 
-        int[] idsBytes = new int[count];
+        byte[] idsBytes = new byte[count];
         System.arraycopy(bytes, 5, idsBytes, 0, count);
         StringBuilder builder = new StringBuilder();
         for (int i = 0; i < idsBytes.length; i++) {
@@ -100,14 +100,14 @@
 
         //经度和纬度，所以需要*2
         int targetSize = count * 2 * 4;
-        int[] targetBytes = new int[targetSize];
+        byte[] targetBytes = new byte[targetSize];
         //起始4个字节，机器人个数1个字节
         System.arraycopy(bytes, 5 + idsBytes.length, targetBytes, 0, targetSize);
         regionMap.put("robotTargets", formatLanLat(targetBytes));
 
         regionMap.put("pointCount", String.valueOf(bytes[5 + idsBytes.length + targetBytes.length]));
 
-        int[] radiusBytes = new int[2];
+        byte[] radiusBytes = new byte[2];
         System.arraycopy(bytes, 5 + idsBytes.length + targetBytes.length + 1, radiusBytes, 0, 2);
         regionMap.put("regionRadius", covertTargetDistance(radiusBytes));
 
@@ -120,7 +120,7 @@
 
         //经度和纬度，所以需要*2
         int pointSize = count * 2 * 4;
-        int[] pointBytes = new int[pointSize];
+        byte[] pointBytes = new byte[pointSize];
         System.arraycopy(bytes,
                 5 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length + 1,
                 pointBytes, 0, pointSize);
@@ -131,14 +131,14 @@
     /**
      * 路径规划
      */
-    public static String decodeRobotRoute(int[] bytes) {
+    public static String decodeRobotRoute(byte[] bytes) {
         Map<String, String> routeMap = new HashMap<>(2);
 
         int count = bytes[4];
         routeMap.put("routeCount", String.valueOf(count));
 
         int routeSize = count * 2 * 4;
-        int[] routeBytes = new int[routeSize];
+        byte[] routeBytes = new byte[routeSize];
         System.arraycopy(bytes, 5, routeBytes, 0, routeSize);
         routeMap.put("robotRoutes", formatLanLat(routeBytes));
         return JSON.toJSONString(routeMap);
@@ -147,13 +147,13 @@
     /**
      * 定向任务
      */
-    public static String decodeDirectedTask(int[] bytes) {
+    public static String decodeDirectedTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(2);
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("taskDepth", covertDepth(depthBytes) + "m");
 
-        int[] angleBytes = new int[2];
+        byte[] angleBytes = new byte[2];
         System.arraycopy(bytes, 6, angleBytes, 0, 2);
         taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°");
         return JSON.toJSONString(taskMap);
@@ -162,10 +162,10 @@
     /**
      * 航路点任务
      */
-    public static String decodeTaskRoute(int[] bytes) {
+    public static String decodeTaskRoute(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(3);
 
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("taskDepth", covertDepth(depthBytes) + "m");
 
@@ -173,7 +173,7 @@
         taskMap.put("routeCount", String.valueOf(count));
 
         int routeSize = count * 2 * 4;
-        int[] routeBytes = new int[routeSize];
+        byte[] routeBytes = new byte[routeSize];
         System.arraycopy(bytes, 7, routeBytes, 0, routeSize);
         taskMap.put("robotRoutes", formatLanLat(routeBytes));
         return JSON.toJSONString(taskMap);
@@ -182,17 +182,17 @@
     /**
      * 定深直航任务
      */
-    public static String decodeDirectFlightTask(int[] bytes) {
+    public static String decodeDirectFlightTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(3);
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("taskDepth", covertDepth(depthBytes) + "m");
 
-        int[] angleBytes = new int[2];
+        byte[] angleBytes = new byte[2];
         System.arraycopy(bytes, 6, angleBytes, 0, 2);
         taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°");
 
-        int[] timesBytes = new int[2];
+        byte[] timesBytes = new byte[2];
         System.arraycopy(bytes, 8, timesBytes, 0, 2);
         taskMap.put("time", covertToDec(timesBytes) + "s");
         return JSON.toJSONString(taskMap);
@@ -201,21 +201,21 @@
     /**
      * 驻留任务
      */
-    public static String decodeResideTask(int[] bytes) {
+    public static String decodeResideTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(4);
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 4, lngBytes, 0, 4);
         taskMap.put("lng", String.valueOf(covertLngLat(lngBytes)));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 8, latBytes, 0, 4);
         taskMap.put("lat", String.valueOf(covertLngLat(latBytes)));
 
-        int[] angleBytes = new int[2];
+        byte[] angleBytes = new byte[2];
         System.arraycopy(bytes, 12, angleBytes, 0, 2);
         taskMap.put("depth", covertDepth(angleBytes) + "m");
 
-        int[] timesBytes = new int[2];
+        byte[] timesBytes = new byte[2];
         System.arraycopy(bytes, 14, timesBytes, 0, 2);
         taskMap.put("time", covertToDec(timesBytes) + "min");
         return JSON.toJSONString(taskMap);
@@ -224,20 +224,20 @@
     /**
      * 投放任务
      */
-    public static String decodePutTask(int[] bytes) {
+    public static String decodePutTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(4);
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 4, lngBytes, 0, 4);
         taskMap.put("lng", String.valueOf(covertLngLat(lngBytes)));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 8, latBytes, 0, 4);
         taskMap.put("lat", String.valueOf(covertLngLat(latBytes)));
 
         int count = bytes[12];
         taskMap.put("count", String.valueOf(count));
 
-        int[] idsBytes = new int[count];
+        byte[] idsBytes = new byte[count];
         System.arraycopy(bytes, 13, idsBytes, 0, count);
         StringBuilder builder = new StringBuilder();
         for (int i = 0; i < idsBytes.length; i++) {
@@ -254,11 +254,11 @@
     /**
      * 短信内容
      */
-    public static String decodeSMS(int[] bytes) {
+    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;
 
-        int[] dataBytes = new int[dataLen];
+        byte[] dataBytes = new byte[dataLen];
         System.arraycopy(bytes, 5, dataBytes, 0, dataLen);
         StringBuilder builder = new StringBuilder();
         for (int dataByte : dataBytes) {
@@ -270,9 +270,9 @@
     /**
      * AIS数据请求
      */
-    public static String decodeAISRequest(int[] bytes) {
+    public static String decodeAISRequest(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(2);
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("radius", covertToDec(depthBytes) + "km");
 
@@ -285,13 +285,13 @@
      * 编码encode
      * 解码decode
      */
-    public static ShelterPosition decodeShelterPosition(int[] bytes) {
+    public static ShelterPosition decodeShelterPosition(byte[] bytes) {
         ShelterPosition shelter = new ShelterPosition();
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 5, lngBytes, 0, 4);
         shelter.setLng(covertLngLat(lngBytes));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 9, latBytes, 0, 4);
         shelter.setLat(covertLngLat(latBytes));
 
@@ -301,10 +301,10 @@
         return shelter;
     }
 
-    public static String formatLanLat(int[] targetBytes) {
+    public static String formatLanLat(byte[] targetBytes) {
         List<Double> lnglat = new ArrayList<>();
         for (int i = 0; i < targetBytes.length; i += 4) {
-            int[] target = new int[4];
+            byte[] target = new byte[4];
             System.arraycopy(targetBytes, i, target, 0, 4);
 
             //每4个字节转换一次经纬度
@@ -326,7 +326,7 @@
     /**
      * 十进制转换算法
      */
-    private static double covertToDec(int[] bytes) {
+    private static double covertToDec(byte[] bytes) {
         return ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
     }
@@ -334,7 +334,7 @@
     /**
      * 任务深度转换算法
      */
-    private static double covertDepth(int[] bytes) {
+    private static double covertDepth(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (a * 0.1);
@@ -343,7 +343,7 @@
     /**
      * 目标频率转换算法
      */
-    private static String covertTargetHertz(int[] bytes) {
+    private static String covertTargetHertz(byte[] bytes) {
         return ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF) + "hz";
     }
@@ -351,7 +351,7 @@
     /**
      * 目标距离转换算法
      */
-    private static String covertTargetDistance(int[] bytes) {
+    private static String covertTargetDistance(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01) + "km";
@@ -360,7 +360,7 @@
     /**
      * 横滚角转换算法
      */
-    private static float covertBuoyancy(int[] bytes) {
+    private static float covertBuoyancy(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01 - 100);
@@ -369,7 +369,7 @@
     /**
      * 横滚角转换算法
      */
-    private static float covertHeadingAngle(int[] bytes) {
+    private static float covertHeadingAngle(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01);
@@ -378,7 +378,7 @@
     /**
      * 横滚角转换算法
      */
-    private static float covertRollAngle(int[] bytes) {
+    private static float covertRollAngle(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01 - 180);
@@ -387,7 +387,7 @@
     /**
      * 俯仰角转换算法
      */
-    private static float covertPitchAngle(int[] bytes) {
+    private static float covertPitchAngle(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01 - 90);
@@ -420,7 +420,7 @@
     /**
      * 经纬度转换算法
      */
-    private static double covertLngLat(int[] bytes) {
+    private static double covertLngLat(byte[] bytes) {
         double per = (
                 ((bytes[0] & 0xFF) << 24) +
                         ((bytes[1] & 0xFF) << 16) +
diff --git a/casic-shelter/src/main/java/com/casic/missiles/socket/BootNettyServer.java b/casic-shelter/src/main/java/com/casic/missiles/socket/BootNettyServer.java
index bc8a81e..d7bb43b 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/socket/BootNettyServer.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/socket/BootNettyServer.java
@@ -6,7 +6,7 @@
 import io.netty.channel.nio.NioEventLoopGroup;
 import io.netty.channel.socket.SocketChannel;
 import io.netty.channel.socket.nio.NioServerSocketChannel;
-import io.netty.handler.codec.string.StringDecoder;
+import io.netty.handler.codec.bytes.ByteArrayDecoder;
 import io.netty.handler.codec.string.StringEncoder;
 import io.netty.util.CharsetUtil;
 import lombok.extern.slf4j.Slf4j;
@@ -50,9 +50,10 @@
                 @Override
                 protected void initChannel(SocketChannel socketChannel) throws Exception {
                     ChannelPipeline pipeline = socketChannel.pipeline();
-
+                    //接收消息格式-byte[]
+                    pipeline.addLast("decoder", new ByteArrayDecoder());
+                    //发送消息格式-String
                     pipeline.addLast("encoder", new StringEncoder(CharsetUtil.UTF_8));
-                    pipeline.addLast("decoder", new StringDecoder(CharsetUtil.UTF_8));
                     /**
                      * 自定义ChannelInboundHandlerAdapter
                      */

diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
index dc69c33..55c8156 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/Constant.java
@@ -7,9 +7,9 @@
  */
 public class Constant {
 
-    public static final int BITS_OF_HEAD = 0x2A;
-    public static final int BITS_OF_END = 0x0A;
-    public static final int SHELTER_ID = 0xFF;
+    public static final byte BITS_OF_HEAD = (byte) 0x2A;
+    public static final byte BITS_OF_END = (byte) 0x0A;
+    public static final byte SHELTER_ID = (byte) 0xFF;
 
     /**
      * 洋流相关常量
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 b18e3ad..ed3cabe 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
@@ -16,16 +16,16 @@
     /**
      * 水下机器人信息
      */
-    public static RobotInfo decodeRobotInfo(int[] bytes) {
+    public static RobotInfo decodeRobotInfo(byte[] bytes) {
         RobotInfo robot = new RobotInfo();
 
-        robot.setRobotId(bytes[4]);
+        robot.setRobotId((int) bytes[4]);
 
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 5, lngBytes, 0, 4);
         robot.setLng(covertLngLat(lngBytes));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 9, latBytes, 0, 4);
         robot.setLat(covertLngLat(latBytes));
 
@@ -35,23 +35,23 @@
         robot.setInstrumentE((float) (bytes[16]));
         robot.setPowerE((float) (bytes[17]));
 
-        int[] pitchAngleBytes = new int[2];
+        byte[] pitchAngleBytes = new byte[2];
         System.arraycopy(bytes, 18, pitchAngleBytes, 0, 2);
         robot.setPitchAngle(covertPitchAngle(pitchAngleBytes));
 
-        int[] rollAngleBytes = new int[2];
+        byte[] rollAngleBytes = new byte[2];
         System.arraycopy(bytes, 20, rollAngleBytes, 0, 2);
         robot.setRollAngle(covertRollAngle(rollAngleBytes));
 
-        int[] headingAngleBytes = new int[2];
+        byte[] headingAngleBytes = new byte[2];
         System.arraycopy(bytes, 22, headingAngleBytes, 0, 2);
         robot.setHeadingAngle(covertHeadingAngle(headingAngleBytes));
 
-        int[] buoyancyBytes = new int[2];
+        byte[] buoyancyBytes = new byte[2];
         System.arraycopy(bytes, 24, buoyancyBytes, 0, 2);
         robot.setBuoyancy(covertBuoyancy(buoyancyBytes));
 
-        int[] positionBytes = new int[2];
+        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));
@@ -63,16 +63,16 @@
             robot.setDetectStatus("发现目标");
         }
 
-        int[] targetDisBytes = new int[2];
+        byte[] targetDisBytes = new byte[2];
         System.arraycopy(bytes, 29, targetDisBytes, 0, 2);
         robot.setTargetDistance(covertTargetDistance(targetDisBytes));
 
-        int[] targetDirBytes = new int[2];
+        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));
 
-        int[] targetHzBytes = new int[2];
+        byte[] targetHzBytes = new byte[2];
         System.arraycopy(bytes, 33, targetHzBytes, 0, 2);
         robot.setTargetHertz(covertTargetHertz(targetHzBytes));
         return robot;
@@ -81,12 +81,12 @@
     /**
      * 区域覆盖
      */
-    public static String decodeRobotRegion(int[] bytes) {
+    public static String decodeRobotRegion(byte[] bytes) {
         Map<String, String> regionMap = new HashMap<>();
         int count = bytes[4];
         regionMap.put("count", String.valueOf(count));
 
-        int[] idsBytes = new int[count];
+        byte[] idsBytes = new byte[count];
         System.arraycopy(bytes, 5, idsBytes, 0, count);
         StringBuilder builder = new StringBuilder();
         for (int i = 0; i < idsBytes.length; i++) {
@@ -100,14 +100,14 @@
 
         //经度和纬度，所以需要*2
         int targetSize = count * 2 * 4;
-        int[] targetBytes = new int[targetSize];
+        byte[] targetBytes = new byte[targetSize];
         //起始4个字节，机器人个数1个字节
         System.arraycopy(bytes, 5 + idsBytes.length, targetBytes, 0, targetSize);
         regionMap.put("robotTargets", formatLanLat(targetBytes));
 
         regionMap.put("pointCount", String.valueOf(bytes[5 + idsBytes.length + targetBytes.length]));
 
-        int[] radiusBytes = new int[2];
+        byte[] radiusBytes = new byte[2];
         System.arraycopy(bytes, 5 + idsBytes.length + targetBytes.length + 1, radiusBytes, 0, 2);
         regionMap.put("regionRadius", covertTargetDistance(radiusBytes));
 
@@ -120,7 +120,7 @@
 
         //经度和纬度，所以需要*2
         int pointSize = count * 2 * 4;
-        int[] pointBytes = new int[pointSize];
+        byte[] pointBytes = new byte[pointSize];
         System.arraycopy(bytes,
                 5 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length + 1,
                 pointBytes, 0, pointSize);
@@ -131,14 +131,14 @@
     /**
      * 路径规划
      */
-    public static String decodeRobotRoute(int[] bytes) {
+    public static String decodeRobotRoute(byte[] bytes) {
         Map<String, String> routeMap = new HashMap<>(2);
 
         int count = bytes[4];
         routeMap.put("routeCount", String.valueOf(count));
 
         int routeSize = count * 2 * 4;
-        int[] routeBytes = new int[routeSize];
+        byte[] routeBytes = new byte[routeSize];
         System.arraycopy(bytes, 5, routeBytes, 0, routeSize);
         routeMap.put("robotRoutes", formatLanLat(routeBytes));
         return JSON.toJSONString(routeMap);
@@ -147,13 +147,13 @@
     /**
      * 定向任务
      */
-    public static String decodeDirectedTask(int[] bytes) {
+    public static String decodeDirectedTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(2);
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("taskDepth", covertDepth(depthBytes) + "m");
 
-        int[] angleBytes = new int[2];
+        byte[] angleBytes = new byte[2];
         System.arraycopy(bytes, 6, angleBytes, 0, 2);
         taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°");
         return JSON.toJSONString(taskMap);
@@ -162,10 +162,10 @@
     /**
      * 航路点任务
      */
-    public static String decodeTaskRoute(int[] bytes) {
+    public static String decodeTaskRoute(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(3);
 
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("taskDepth", covertDepth(depthBytes) + "m");
 
@@ -173,7 +173,7 @@
         taskMap.put("routeCount", String.valueOf(count));
 
         int routeSize = count * 2 * 4;
-        int[] routeBytes = new int[routeSize];
+        byte[] routeBytes = new byte[routeSize];
         System.arraycopy(bytes, 7, routeBytes, 0, routeSize);
         taskMap.put("robotRoutes", formatLanLat(routeBytes));
         return JSON.toJSONString(taskMap);
@@ -182,17 +182,17 @@
     /**
      * 定深直航任务
      */
-    public static String decodeDirectFlightTask(int[] bytes) {
+    public static String decodeDirectFlightTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(3);
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("taskDepth", covertDepth(depthBytes) + "m");
 
-        int[] angleBytes = new int[2];
+        byte[] angleBytes = new byte[2];
         System.arraycopy(bytes, 6, angleBytes, 0, 2);
         taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°");
 
-        int[] timesBytes = new int[2];
+        byte[] timesBytes = new byte[2];
         System.arraycopy(bytes, 8, timesBytes, 0, 2);
         taskMap.put("time", covertToDec(timesBytes) + "s");
         return JSON.toJSONString(taskMap);
@@ -201,21 +201,21 @@
     /**
      * 驻留任务
      */
-    public static String decodeResideTask(int[] bytes) {
+    public static String decodeResideTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(4);
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 4, lngBytes, 0, 4);
         taskMap.put("lng", String.valueOf(covertLngLat(lngBytes)));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 8, latBytes, 0, 4);
         taskMap.put("lat", String.valueOf(covertLngLat(latBytes)));
 
-        int[] angleBytes = new int[2];
+        byte[] angleBytes = new byte[2];
         System.arraycopy(bytes, 12, angleBytes, 0, 2);
         taskMap.put("depth", covertDepth(angleBytes) + "m");
 
-        int[] timesBytes = new int[2];
+        byte[] timesBytes = new byte[2];
         System.arraycopy(bytes, 14, timesBytes, 0, 2);
         taskMap.put("time", covertToDec(timesBytes) + "min");
         return JSON.toJSONString(taskMap);
@@ -224,20 +224,20 @@
     /**
      * 投放任务
      */
-    public static String decodePutTask(int[] bytes) {
+    public static String decodePutTask(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(4);
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 4, lngBytes, 0, 4);
         taskMap.put("lng", String.valueOf(covertLngLat(lngBytes)));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 8, latBytes, 0, 4);
         taskMap.put("lat", String.valueOf(covertLngLat(latBytes)));
 
         int count = bytes[12];
         taskMap.put("count", String.valueOf(count));
 
-        int[] idsBytes = new int[count];
+        byte[] idsBytes = new byte[count];
         System.arraycopy(bytes, 13, idsBytes, 0, count);
         StringBuilder builder = new StringBuilder();
         for (int i = 0; i < idsBytes.length; i++) {
@@ -254,11 +254,11 @@
     /**
      * 短信内容
      */
-    public static String decodeSMS(int[] bytes) {
+    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;
 
-        int[] dataBytes = new int[dataLen];
+        byte[] dataBytes = new byte[dataLen];
         System.arraycopy(bytes, 5, dataBytes, 0, dataLen);
         StringBuilder builder = new StringBuilder();
         for (int dataByte : dataBytes) {
@@ -270,9 +270,9 @@
     /**
      * AIS数据请求
      */
-    public static String decodeAISRequest(int[] bytes) {
+    public static String decodeAISRequest(byte[] bytes) {
         Map<String, String> taskMap = new HashMap<>(2);
-        int[] depthBytes = new int[2];
+        byte[] depthBytes = new byte[2];
         System.arraycopy(bytes, 4, depthBytes, 0, 2);
         taskMap.put("radius", covertToDec(depthBytes) + "km");
 
@@ -285,13 +285,13 @@
      * 编码encode
      * 解码decode
      */
-    public static ShelterPosition decodeShelterPosition(int[] bytes) {
+    public static ShelterPosition decodeShelterPosition(byte[] bytes) {
         ShelterPosition shelter = new ShelterPosition();
-        int[] lngBytes = new int[4];
+        byte[] lngBytes = new byte[4];
         System.arraycopy(bytes, 5, lngBytes, 0, 4);
         shelter.setLng(covertLngLat(lngBytes));
 
-        int[] latBytes = new int[4];
+        byte[] latBytes = new byte[4];
         System.arraycopy(bytes, 9, latBytes, 0, 4);
         shelter.setLat(covertLngLat(latBytes));
 
@@ -301,10 +301,10 @@
         return shelter;
     }
 
-    public static String formatLanLat(int[] targetBytes) {
+    public static String formatLanLat(byte[] targetBytes) {
         List<Double> lnglat = new ArrayList<>();
         for (int i = 0; i < targetBytes.length; i += 4) {
-            int[] target = new int[4];
+            byte[] target = new byte[4];
             System.arraycopy(targetBytes, i, target, 0, 4);
 
             //每4个字节转换一次经纬度
@@ -326,7 +326,7 @@
     /**
      * 十进制转换算法
      */
-    private static double covertToDec(int[] bytes) {
+    private static double covertToDec(byte[] bytes) {
         return ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
     }
@@ -334,7 +334,7 @@
     /**
      * 任务深度转换算法
      */
-    private static double covertDepth(int[] bytes) {
+    private static double covertDepth(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (a * 0.1);
@@ -343,7 +343,7 @@
     /**
      * 目标频率转换算法
      */
-    private static String covertTargetHertz(int[] bytes) {
+    private static String covertTargetHertz(byte[] bytes) {
         return ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF) + "hz";
     }
@@ -351,7 +351,7 @@
     /**
      * 目标距离转换算法
      */
-    private static String covertTargetDistance(int[] bytes) {
+    private static String covertTargetDistance(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01) + "km";
@@ -360,7 +360,7 @@
     /**
      * 横滚角转换算法
      */
-    private static float covertBuoyancy(int[] bytes) {
+    private static float covertBuoyancy(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01 - 100);
@@ -369,7 +369,7 @@
     /**
      * 横滚角转换算法
      */
-    private static float covertHeadingAngle(int[] bytes) {
+    private static float covertHeadingAngle(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01);
@@ -378,7 +378,7 @@
     /**
      * 横滚角转换算法
      */
-    private static float covertRollAngle(int[] bytes) {
+    private static float covertRollAngle(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01 - 180);
@@ -387,7 +387,7 @@
     /**
      * 俯仰角转换算法
      */
-    private static float covertPitchAngle(int[] bytes) {
+    private static float covertPitchAngle(byte[] bytes) {
         float a = ((bytes[0] & 0xFF) << 8) +
                 (bytes[1] & 0xFF);
         return (float) (a * 0.01 - 90);
@@ -420,7 +420,7 @@
     /**
      * 经纬度转换算法
      */
-    private static double covertLngLat(int[] bytes) {
+    private static double covertLngLat(byte[] bytes) {
         double per = (
                 ((bytes[0] & 0xFF) << 24) +
                         ((bytes[1] & 0xFF) << 16) +
diff --git a/casic-shelter/src/main/java/com/casic/missiles/socket/BootNettyServer.java b/casic-shelter/src/main/java/com/casic/missiles/socket/BootNettyServer.java
index bc8a81e..d7bb43b 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/socket/BootNettyServer.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/socket/BootNettyServer.java
@@ -6,7 +6,7 @@
 import io.netty.channel.nio.NioEventLoopGroup;
 import io.netty.channel.socket.SocketChannel;
 import io.netty.channel.socket.nio.NioServerSocketChannel;
-import io.netty.handler.codec.string.StringDecoder;
+import io.netty.handler.codec.bytes.ByteArrayDecoder;
 import io.netty.handler.codec.string.StringEncoder;
 import io.netty.util.CharsetUtil;
 import lombok.extern.slf4j.Slf4j;
@@ -50,9 +50,10 @@
                 @Override
                 protected void initChannel(SocketChannel socketChannel) throws Exception {
                     ChannelPipeline pipeline = socketChannel.pipeline();
-
+                    //接收消息格式-byte[]
+                    pipeline.addLast("decoder", new ByteArrayDecoder());
+                    //发送消息格式-String
                     pipeline.addLast("encoder", new StringEncoder(CharsetUtil.UTF_8));
-                    pipeline.addLast("decoder", new StringDecoder(CharsetUtil.UTF_8));
                     /**
                      * 自定义ChannelInboundHandlerAdapter
                      */
diff --git a/casic-shelter/src/main/java/com/casic/missiles/socket/service/impl/SocketServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/socket/service/impl/SocketServiceImpl.java
index 5680b05..38f2903 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/socket/service/impl/SocketServiceImpl.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/socket/service/impl/SocketServiceImpl.java
@@ -3,6 +3,7 @@
 import com.alibaba.fastjson.JSON;
 import com.casic.missiles.modular.system.dto.ShipDTO;
 import com.casic.missiles.modular.system.dto.TyphoonDTO;
+import com.casic.missiles.modular.system.model.RobotInfo;
 import com.casic.missiles.modular.system.model.ShelterPosition;
 import com.casic.missiles.modular.system.service.IShelterPositionService;
 import com.casic.missiles.modular.system.service.IShipService;
@@ -15,6 +16,7 @@
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.Arrays;
 import java.util.List;
 import java.util.Map;
 
@@ -37,14 +39,14 @@
         this.shelterPositionService = shelterPositionService;
     }
 
-    private boolean isCorrectData(int[] bytes) {
+    private boolean isCorrectData(byte[] bytes) {
         if (bytes[0] != Constant.BITS_OF_HEAD) {
             return false;
         }
         return bytes[bytes.length - 1] == Constant.BITS_OF_END;
     }
 
-    private int decodeRobotId(int[] bytes) {
+    private int decodeRobotId(byte[] bytes) {
         int robotId;
         if (Constant.SHELTER_ID == bytes[4]) {
             //返回方舱的周围的AIS数据
@@ -64,16 +66,11 @@
      */
     @Override
     public void communicate(ChannelHandlerContext ctx, Object msg) {
-        String temp = msg.toString();
-        log.info("channelRead message ===> " + temp);
+        byte[] data = (byte[]) msg;
+        log.info("channelRead message ===> " + Arrays.toString(data));
         /**
          * 回应客户端
          * */
-        String[] dataArray = temp.split(" ");
-        int[] data = new int[dataArray.length];
-        for (int i = 0; i < dataArray.length; i++) {
-            data[i] = Integer.parseInt(dataArray[i], 16);
-        }
         if (isCorrectData(data)) {
             int dataType = data[2];
             int robotId = decodeRobotId(data);
@@ -83,7 +80,7 @@
             switch (dataType) {
                 case 0x01:
                     //水下机器人信息
-                    DecodeData.decodeRobotInfo(data);
+                    RobotInfo robotInfo = DecodeData.decodeRobotInfo(data);
                     break;
                 case 0x02:
                     //算法结果
@@ -131,10 +128,10 @@
                 case 0x07:
                     //方舱位置
                     ShelterPosition shelterPosition = DecodeData.decodeShelterPosition(
-                            new int[]{0x2A, 0x23, 0x07, 0x00, 0x00,
-                                    0x4D, 0xBD, 0x80, 0xCF,
-                                    0x0C, 0x5E, 0x28, 0xC2,
-                                    0xC7, 0x16, 0x0A}
+                            new byte[]{(byte) 0x2A, (byte) 0x23, (byte) 0x07, (byte) 0x00, (byte) 0x00,
+                                    (byte) 0x4D, (byte) 0xBD, (byte) 0x80, (byte) 0xCF,
+                                    (byte) 0x0C, (byte) 0x5E, (byte) 0x28, (byte) 0xC2,
+                                    (byte) 0xC7, (byte) 0x16, (byte) 0x0A}
                     );
                     shelterPositionService.save(shelterPosition);
                     break;