diff --git a/User/task/imu.c b/User/task/imu.c
index e31a73c..968d271 100644
--- a/User/task/imu.c
+++ b/User/task/imu.c
@@ -10,6 +10,7 @@
 #include "bsp/can.h"
 #include "bsp/time.h"
 #include "component/ahrs.h"
+#include "component/filter.h"
 #include <string.h>
 #include <stdint.h>
 /* USER INCLUDE END */
@@ -50,6 +51,25 @@ AHRS_Accl_t accl;
 AHRS_Gyro_t gyro;
 AHRS_Eulr_t eulr;
 AHRS_Quaternion_t quat;
+
+/* 低通滤波器定义 */
+/* 加速度计3轴滤波器 */
+LowPassFilter2p_t accl_filter_x;
+LowPassFilter2p_t accl_filter_y;
+LowPassFilter2p_t accl_filter_z;
+
+/* 陀螺仪3轴滤波器 */
+LowPassFilter2p_t gyro_filter_x;
+LowPassFilter2p_t gyro_filter_y;
+LowPassFilter2p_t gyro_filter_z;
+
+/* 欧拉角3轴滤波器 */
+LowPassFilter2p_t eulr_filter_yaw;
+LowPassFilter2p_t eulr_filter_pitch;
+LowPassFilter2p_t eulr_filter_roll;
+
+/* 滤波器参数定义 */
+#define FILTER_CUTOFF_FREQ (30.0f)  /* 截止频率50Hz */
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -66,21 +86,42 @@ void Task_imu(void *argument) {
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
   BSP_CAN_Init();
+  
+  /* 初始化低通滤波器 */
+  /* 加速度计滤波器初始化 */
+  LowPassFilter2p_Init(&accl_filter_x, IMU_FREQ, FILTER_CUTOFF_FREQ);
+  LowPassFilter2p_Init(&accl_filter_y, IMU_FREQ, FILTER_CUTOFF_FREQ);
+  LowPassFilter2p_Init(&accl_filter_z, IMU_FREQ, FILTER_CUTOFF_FREQ);
+  
+  /* 陀螺仪滤波器初始化 */
+  LowPassFilter2p_Init(&gyro_filter_x, IMU_FREQ, FILTER_CUTOFF_FREQ);
+  LowPassFilter2p_Init(&gyro_filter_y, IMU_FREQ, FILTER_CUTOFF_FREQ);
+  LowPassFilter2p_Init(&gyro_filter_z, IMU_FREQ, FILTER_CUTOFF_FREQ);
+  
+  /* 欧拉角滤波器初始化 */
+  LowPassFilter2p_Init(&eulr_filter_yaw, IMU_FREQ, FILTER_CUTOFF_FREQ);
+  LowPassFilter2p_Init(&eulr_filter_pitch, IMU_FREQ, FILTER_CUTOFF_FREQ);
+  LowPassFilter2p_Init(&eulr_filter_roll, IMU_FREQ, FILTER_CUTOFF_FREQ);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-    /* 获取加速度计数据并通过CAN发送 - 每轴使用16位编码 */
+    /* 获取加速度计数据，应用滤波器后通过CAN发送 - 每轴使用16位编码 */
     if (osMessageQueueGet(task_runtime.msgq.imu.accl, &accl, NULL, 0) == osOK) {
         BSP_CAN_StdDataFrame_t accl_frame;
         accl_frame.id = CAN_ID_AHRS_ACCL;
         accl_frame.dlc = 6;  /* 3轴 × 2字节 = 6字节 */
         
-        /* 限制并映射加速度数据到16位整数 */
-        float ax = CLAMP(accl.x, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
-        float ay = CLAMP(accl.y, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
-        float az = CLAMP(accl.z, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
+        /* 对加速度数据应用低通滤波器 */
+        float ax_filtered = LowPassFilter2p_Apply(&accl_filter_x, accl.x);
+        float ay_filtered = LowPassFilter2p_Apply(&accl_filter_y, accl.y);
+        float az_filtered = LowPassFilter2p_Apply(&accl_filter_z, accl.z);
+        
+        /* 限制并映射滤波后的加速度数据到16位整数 */
+        float ax = CLAMP(ax_filtered, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
+        float ay = CLAMP(ay_filtered, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
+        float az = CLAMP(az_filtered, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
         
         int16_t ax_int = MAP_TO_INT16(ax, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
         int16_t ay_int = MAP_TO_INT16(ay, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
@@ -93,16 +134,21 @@ void Task_imu(void *argument) {
         BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
     }
     
-    /* 获取陀螺仪数据并通过CAN发送 - 每轴使用16位编码 */
+    /* 获取陀螺仪数据，应用滤波器后通过CAN发送 - 每轴使用16位编码 */
     if (osMessageQueueGet(task_runtime.msgq.imu.gyro, &gyro, NULL, 0) == osOK) {
         BSP_CAN_StdDataFrame_t gyro_frame;
         gyro_frame.id = CAN_ID_AHRS_GYRO;
         gyro_frame.dlc = 6;  /* 3轴 × 2字节 = 6字节 */
         
-        /* 限制并映射陀螺仪数据到16位整数 */
-        float gx = CLAMP(gyro.x, GYRO_CAN_MIN, GYRO_CAN_MAX);
-        float gy = CLAMP(gyro.y, GYRO_CAN_MIN, GYRO_CAN_MAX);
-        float gz = CLAMP(gyro.z, GYRO_CAN_MIN, GYRO_CAN_MAX);
+        /* 对陀螺仪数据应用低通滤波器 */
+        float gx_filtered = LowPassFilter2p_Apply(&gyro_filter_x, gyro.x);
+        float gy_filtered = LowPassFilter2p_Apply(&gyro_filter_y, gyro.y);
+        float gz_filtered = LowPassFilter2p_Apply(&gyro_filter_z, gyro.z);
+        
+        /* 限制并映射滤波后的陀螺仪数据到16位整数 */
+        float gx = CLAMP(gx_filtered, GYRO_CAN_MIN, GYRO_CAN_MAX);
+        float gy = CLAMP(gy_filtered, GYRO_CAN_MIN, GYRO_CAN_MAX);
+        float gz = CLAMP(gz_filtered, GYRO_CAN_MIN, GYRO_CAN_MAX);
         
         int16_t gx_int = MAP_TO_INT16(gx, GYRO_CAN_MIN, GYRO_CAN_MAX);
         int16_t gy_int = MAP_TO_INT16(gy, GYRO_CAN_MIN, GYRO_CAN_MAX);
@@ -115,16 +161,21 @@ void Task_imu(void *argument) {
         BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
     }
     
-    /* 获取欧拉角数据并通过CAN发送 - 每角使用16位编码 */
+    /* 获取欧拉角数据，应用滤波器后通过CAN发送 - 每角使用16位编码 */
     if (osMessageQueueGet(task_runtime.msgq.imu.eulr, &eulr, NULL, 0) == osOK) {
         BSP_CAN_StdDataFrame_t eulr_frame;
         eulr_frame.id = CAN_ID_AHRS_EULR;
         eulr_frame.dlc = 6;  /* 3个角度 × 2字节 = 6字节 */
         
-        /* 限制并映射欧拉角数据到16位整数 */
-        float yaw = CLAMP(eulr.yaw, YAW_CAN_MIN, YAW_CAN_MAX);
-        float pitch = CLAMP(eulr.pit, PITCH_CAN_MIN, PITCH_CAN_MAX);
-        float roll = CLAMP(eulr.rol, ROLL_CAN_MIN, ROLL_CAN_MAX);
+        /* 对欧拉角数据应用低通滤波器 */
+        float yaw_filtered = LowPassFilter2p_Apply(&eulr_filter_yaw, eulr.yaw);
+        float pitch_filtered = LowPassFilter2p_Apply(&eulr_filter_pitch, eulr.pit);
+        float roll_filtered = LowPassFilter2p_Apply(&eulr_filter_roll, eulr.rol);
+        
+        /* 限制并映射滤波后的欧拉角数据到16位整数 */
+        float yaw = CLAMP(yaw_filtered, YAW_CAN_MIN, YAW_CAN_MAX);
+        float pitch = CLAMP(pitch_filtered, PITCH_CAN_MIN, PITCH_CAN_MAX);
+        float roll = CLAMP(roll_filtered, ROLL_CAN_MIN, ROLL_CAN_MAX);
         
         int16_t yaw_int = MAP_TO_INT16(yaw, YAW_CAN_MIN, YAW_CAN_MAX);
         int16_t pitch_int = MAP_TO_INT16(pitch, PITCH_CAN_MIN, PITCH_CAN_MAX);