diff --git a/sourceCode/SG_baseFunc.cpp b/sourceCode/SG_baseFunc.cpp
index 4aeb206..6a3c5a4 100644
--- a/sourceCode/SG_baseFunc.cpp
+++ b/sourceCode/SG_baseFunc.cpp
@@ -2280,15 +2280,22 @@ SSG_planeCalibPara sg_HCameraVScan_getGroundCalibPara(
 
 #if 1 //两个向量的旋转旋转，使用四元数法，
 	Vector3 a = Vector3(planceFunc[0], planceFunc[1], planceFunc[2]);
-	Vector3 b = Vector3(0, 1.0, 0);
-	Quaternion quanPara = rotationBetweenVectors(a, b);
-
-	RotationMatrix rMatrix;
-	quaternionToMatrix(quanPara, rMatrix.data);
+	Vector3 b1 = Vector3(0, 1.0, 0);
+	Vector3 b2 = Vector3(0, -1.0, 0);
+	Quaternion quanPara_1 = rotationBetweenVectors(a, b1);
+	Quaternion quanPara_2 = rotationBetweenVectors(a, b2);
+	RotationMatrix rMatrix_1;
+	quaternionToMatrix(quanPara_1, rMatrix_1.data);
+	RotationMatrix rMatrix_2;
+	quaternionToMatrix(quanPara_2, rMatrix_2.data);
 	//计算反向旋转矩阵
-	Quaternion invQuanPara = rotationBetweenVectors(b, a);
-	RotationMatrix invMatrix;
-	quaternionToMatrix(invQuanPara, invMatrix.data);
+
+	Quaternion invQuanPara_1 = rotationBetweenVectors(b1, a);
+	Quaternion invQuanPara_2 = rotationBetweenVectors(b2, a);
+	RotationMatrix invMatrix_1;
+	quaternionToMatrix(invQuanPara_1, invMatrix_1.data);
+	RotationMatrix invMatrix_2;
+	quaternionToMatrix(invQuanPara_2, invMatrix_2.data);
 #else  //根据平面的法向量计算欧拉角，进而计算旋转矩阵
 	//参数计算
 	SSG_EulerAngles eulerPra = planeNormalToEuler(planceFunc[0], planceFunc[1], planceFunc[2]);
@@ -2299,38 +2306,26 @@ SSG_planeCalibPara sg_HCameraVScan_getGroundCalibPara(
 	RotationMatrix rMatrix = eulerToRotationMatrix(eulerPra.yaw, eulerPra.pitch, eulerPra.roll);
 #endif
 
-	planePara.planeCalib[0] = rMatrix.data[0][0];
-	planePara.planeCalib[1] = rMatrix.data[0][1];
-	planePara.planeCalib[2] = rMatrix.data[0][2];
-	planePara.planeCalib[3] = rMatrix.data[1][0];
-	planePara.planeCalib[4] = rMatrix.data[1][1];
-	planePara.planeCalib[5] = rMatrix.data[1][2];
-	planePara.planeCalib[6] = rMatrix.data[2][0];
-	planePara.planeCalib[7] = rMatrix.data[2][1];
-	planePara.planeCalib[8] = rMatrix.data[2][2];
+	planePara.planeCalib[0] = rMatrix_1.data[0][0];
+	planePara.planeCalib[1] = rMatrix_1.data[0][1];
+	planePara.planeCalib[2] = rMatrix_1.data[0][2];
+	planePara.planeCalib[3] = rMatrix_1.data[1][0];
+	planePara.planeCalib[4] = rMatrix_1.data[1][1];
+	planePara.planeCalib[5] = rMatrix_1.data[1][2];
+	planePara.planeCalib[6] = rMatrix_1.data[2][0];
+	planePara.planeCalib[7] = rMatrix_1.data[2][1];
+	planePara.planeCalib[8] = rMatrix_1.data[2][2];
 
-	planePara.invRMatrix[0] = invMatrix.data[0][0];
-	planePara.invRMatrix[1] = invMatrix.data[0][1];
-	planePara.invRMatrix[2] = invMatrix.data[0][2];
-	planePara.invRMatrix[3] = invMatrix.data[1][0];
-	planePara.invRMatrix[4] = invMatrix.data[1][1];
-	planePara.invRMatrix[5] = invMatrix.data[1][2];
-	planePara.invRMatrix[6] = invMatrix.data[2][0];
-	planePara.invRMatrix[7] = invMatrix.data[2][1];
-	planePara.invRMatrix[8] = invMatrix.data[2][2];
+	planePara.invRMatrix[0] = invMatrix_1.data[0][0];
+	planePara.invRMatrix[1] = invMatrix_1.data[0][1];
+	planePara.invRMatrix[2] = invMatrix_1.data[0][2];
+	planePara.invRMatrix[3] = invMatrix_1.data[1][0];
+	planePara.invRMatrix[4] = invMatrix_1.data[1][1];
+	planePara.invRMatrix[5] = invMatrix_1.data[1][2];
+	planePara.invRMatrix[6] = invMatrix_1.data[2][0];
+	planePara.invRMatrix[7] = invMatrix_1.data[2][1];
+	planePara.invRMatrix[8] = invMatrix_1.data[2][2];
 
-#if 0  //test: 两个矩阵的乘积必须是单位阵
-	double testMatrix[3][3];
-	for (int i = 0; i < 3; i++)
-	{
-		for (int j = 0; j < 3; j++)
-		{
-			testMatrix[i][j] = 0;
-			for (int m = 0; m < 3; m++)
-				testMatrix[i][j] += invMatrix.data[i][m] * rMatrix.data[m][j];
-		}
-	}
-#endif
 	//数据进行转换
 	SVzNLRangeD calibYRange = { 0, -1 };
 	SVzNLRangeD topYRange = { 0, -1 };
@@ -2363,8 +2358,62 @@ SSG_planeCalibPara sg_HCameraVScan_getGroundCalibPara(
 	}
 	if (sumSize > 0)
 		sumMeanY = sumMeanY / (double)sumSize;
-	planePara.planeHeight = sumMeanY; // calibZRange.min;
 
+	if (sumMeanY < 0)
+	{
+		planePara.planeCalib[0] = rMatrix_2.data[0][0];
+		planePara.planeCalib[1] = rMatrix_2.data[0][1];
+		planePara.planeCalib[2] = rMatrix_2.data[0][2];
+		planePara.planeCalib[3] = rMatrix_2.data[1][0];
+		planePara.planeCalib[4] = rMatrix_2.data[1][1];
+		planePara.planeCalib[5] = rMatrix_2.data[1][2];
+		planePara.planeCalib[6] = rMatrix_2.data[2][0];
+		planePara.planeCalib[7] = rMatrix_2.data[2][1];
+		planePara.planeCalib[8] = rMatrix_2.data[2][2];
+
+		planePara.invRMatrix[0] = invMatrix_2.data[0][0];
+		planePara.invRMatrix[1] = invMatrix_2.data[0][1];
+		planePara.invRMatrix[2] = invMatrix_2.data[0][2];
+		planePara.invRMatrix[3] = invMatrix_2.data[1][0];
+		planePara.invRMatrix[4] = invMatrix_2.data[1][1];
+		planePara.invRMatrix[5] = invMatrix_2.data[1][2];
+		planePara.invRMatrix[6] = invMatrix_2.data[2][0];
+		planePara.invRMatrix[7] = invMatrix_2.data[2][1];
+		planePara.invRMatrix[8] = invMatrix_2.data[2][2];
+
+		//数据进行转换
+		calibYRange = { 0, -1 };
+		topYRange = { 0, -1 };
+		sumMeanY = 0;
+		sumSize = 0;
+		for (int i = 0, i_max = (int)groundPts.size(); i < i_max; i++)
+		{
+			cv::Point3f a_calibPt;
+			a_calibPt.x = (float)(groundPts[i].x * planePara.planeCalib[0] + groundPts[i].y * planePara.planeCalib[1] + groundPts[i].z * planePara.planeCalib[2]);
+			a_calibPt.y = (float)(groundPts[i].x * planePara.planeCalib[3] + groundPts[i].y * planePara.planeCalib[4] + groundPts[i].z * planePara.planeCalib[5]);
+			a_calibPt.z = (float)(groundPts[i].x * planePara.planeCalib[6] + groundPts[i].y * planePara.planeCalib[7] + groundPts[i].z * planePara.planeCalib[8]);
+			//z
+			if (calibYRange.max < calibYRange.min)
+			{
+				calibYRange.min = a_calibPt.y;
+				calibYRange.max = a_calibPt.y;
+				sumMeanY += a_calibPt.y;
+				sumSize++;
+			}
+			else
+			{
+				if (calibYRange.min > a_calibPt.y)
+					calibYRange.min = a_calibPt.y;
+				if (calibYRange.max < a_calibPt.y)
+					calibYRange.max = a_calibPt.y;
+				sumMeanY += a_calibPt.y;
+				sumSize++;
+			}
+		}
+		if (sumSize > 0)
+			sumMeanY = sumMeanY / (double)sumSize;
+	}
+	planePara.planeHeight = sumMeanY; // calibZRange.min;
 	return planePara;
 }
 
diff --git a/sourceCode/wheelArchHeigthMeasure.cpp b/sourceCode/wheelArchHeigthMeasure.cpp
index 79be6fe..8b47c72 100644
--- a/sourceCode/wheelArchHeigthMeasure.cpp
+++ b/sourceCode/wheelArchHeigthMeasure.cpp
@@ -7,7 +7,8 @@
 
 //version 1.0.0 : base version release to customer
 //version 1.1.0 : 添加了轮眉到地面高度输出 
-std::string	m_strVersion = "1.1.0";
+//version 1.2.0 : 修正了地面调平，防止法向量旋转180度 
+std::string	m_strVersion = "1.2.0";
 const char* wd_wheelArchHeigthMeasureVersion(void)
 {
 	return m_strVersion.c_str();
diff --git a/wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp b/wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp
index 02ecfb7..a19004f 100644
--- a/wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp
+++ b/wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp
@@ -2636,8 +2636,8 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine * scanData
 }
 
 #define TEST_CONVERT_TO_GRID		0
-#define TEST_COMPUTE_WHEEL_ARCH		0
-#define TEST_COMPUTE_CALIB_PARA		1
+#define TEST_COMPUTE_WHEEL_ARCH		1
+#define TEST_COMPUTE_CALIB_PARA		0
 
 #define TEST_GROUP 1
 int main()
@@ -2683,7 +2683,7 @@ int main()
 
 #if TEST_COMPUTE_CALIB_PARA
 	char _calib_datafile[256];
-	sprintf_s(_calib_datafile, "F:/ShangGu/椤圭洰/鍐犻挦_杞湁楂樺害娴嬮噺/娴嬭瘯鏁版嵁/ground_LaserData.txt");
+	sprintf_s(_calib_datafile, "F:/ShangGu/椤圭洰/鍐犻挦_杞湁楂樺害娴嬮噺/娴嬭瘯鏁版嵁/鐜板満鏁版嵁/ground_LaserData.txt");
 
 	std::vector< std::vector<SVzNL3DPosition>> scanLines;
 	vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanLines);
@@ -2704,10 +2704,10 @@ int main()
 #endif
 		//
 		char calibFile[250];
-		sprintf_s(calibFile, "F:/ShangGu/椤圭洰/鍐犻挦_杞湁楂樺害娴嬮噺/娴嬭瘯鏁版嵁/ground_calib_para.txt");
+		sprintf_s(calibFile, "F:/ShangGu/椤圭洰/鍐犻挦_杞湁楂樺害娴嬮噺/娴嬭瘯鏁版嵁/鐜板満鏁版嵁/ground_calib_para.txt");
 		_outputCalibPara(calibFile, calibPara);
 		char _out_file[256];
-		sprintf_s(_out_file, "F:/ShangGu/椤圭洰/鍐犻挦_杞湁楂樺害娴嬮噺/娴嬭瘯鏁版嵁/LaserLine_grund_calib.txt");
+		sprintf_s(_out_file, "F:/ShangGu/椤圭洰/鍐犻挦_杞湁楂樺害娴嬮噺/娴嬭瘯鏁版嵁/鐜板満鏁版嵁/LaserLine_grund_calib.txt");
 		_outputScanDataFile_self(_out_file, scanLines, 0, 0, 0);
 		printf("%s: calib done!\n", _calib_datafile);
 	}
@@ -2716,11 +2716,11 @@ int main()
 
 #if TEST_COMPUTE_WHEEL_ARCH
 	const char* dataPath[TEST_GROUP] = {
-	"F:/ShangGu/椤圭洰/鍐犻挦_杞湁楂樺害娴嬮噺/娴嬭瘯鏁版嵁/",  //0
+	"F:/ShangGu/椤圭洰/鍐犻挦_杞湁楂樺害娴嬮噺/娴嬭瘯鏁版嵁/鐜板満鏁版嵁/",  //0
 	};
 
 	SVzNLRange fileIdx[TEST_GROUP] = {
-		{1,1},
+		{1,2},
 	};
 
 	SSG_planeCalibPara poseCalibPara;
@@ -2752,7 +2752,7 @@ int main()
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
 			//fidx = 193;
-			sprintf_s(_scan_file, "%sLaserLine%d_grid.txt", dataPath[grp], fidx);
+			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
 			std::vector<std::vector< SVzNL3DPosition>> scanData;
 			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanData);
 			if (scanData.size() == 0)
@@ -2819,8 +2819,6 @@ int main()
 			_outputScanDataFile_RGBD_obj(_dbg_file, scanData, 0, 0, 0, wheelArcHeight);
 #endif
 			printf("%s: height=%f, arcToGrund=%f, time=%d(ms)!\n", _scan_file, wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth, (int)(t2 - t1));
-
-
 		}
 	}
 #endif