diff --git a/server/src/UdpServer.cs b/server/src/UdpServer.cs
index a1f23ca..1ede0f7 100644
--- a/server/src/UdpServer.cs
+++ b/server/src/UdpServer.cs
@@ -68,17 +68,20 @@ public class UDPData
 /// <summary>
 /// UDP 服务器
 /// </summary>
-public class UDPServer
+public class UDPServer : IDisposable
 {
     private static NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
 
-    private ConcurrentDictionary<string, ConcurrentQueue<UDPData>> udpData = new ConcurrentDictionary<string, ConcurrentQueue<UDPData>>();
+    private ConcurrentDictionary<string, SortedList<DateTime, UDPData>> udpData = new ConcurrentDictionary<string, SortedList<DateTime, UDPData>>();
+    private readonly ReaderWriterLockSlim udpDataLock = new ReaderWriterLockSlim();
 
     private int listenPort;
     private List<UdpClient> listeners = new List<UdpClient>();
     private IPEndPoint groupEP;
 
     private bool isRunning = false;
+    private bool disposed = false;
+
     /// <summary>
     /// 是否正在工作
     /// </summary>
@@ -155,15 +158,23 @@ public class UDPServer
             isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
             if (isTimeout) break;
 
-            lock (udpData)
+            udpDataLock.EnterWriteLock();
+            try
             {
-                if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
-                    dataQueue.TryDequeue(out data))
+                var key = $"{ipAddr}-{taskID}";
+                if (udpData.TryGetValue(key, out var sortedList) && sortedList.Count > 0)
                 {
-                    // logger.Debug($"Find UDP Data: {data.ToString()}");
+                    // 获取最早的数据（第一个元素）
+                    var firstKey = sortedList.Keys[0];
+                    data = sortedList[firstKey];
+                    sortedList.RemoveAt(0);
                     break;
                 }
             }
+            finally
+            {
+                udpDataLock.ExitWriteLock();
+            }
 
             await Task.Delay(cycle);
         }
@@ -198,19 +209,21 @@ public class UDPServer
             isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
             if (isTimeout) break;
 
-            lock (udpData)
+            udpDataLock.EnterWriteLock();
+            try
             {
-                if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
-                    !dataQueue.IsEmpty)
+                var key = $"{ipAddr}-{taskID}";
+                if (udpData.TryGetValue(key, out var sortedList) && sortedList.Count > 0)
                 {
-                    data = new List<UDPData>();
-                    while (dataQueue.TryDequeue(out var item))
-                    {
-                        data.Add(item);
-                    }
+                    data = new List<UDPData>(sortedList.Values);
+                    sortedList.Clear();
                     break;
                 }
             }
+            finally
+            {
+                udpDataLock.ExitWriteLock();
+            }
         }
 
         if (data is null)
@@ -243,12 +256,19 @@ public class UDPServer
             isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
             if (isTimeout) break;
 
-            if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
-                !dataQueue.IsEmpty)
+            udpDataLock.EnterReadLock();
+            try
             {
-                data = dataQueue.ToArray().ToList();
-                // logger.Debug($"Find UDP Data Array: {JsonConvert.SerializeObject(data)}");
-                break;
+                var key = $"{ipAddr}-{taskID}";
+                if (udpData.TryGetValue(key, out var sortedList) && sortedList.Count > 0)
+                {
+                    data = new List<UDPData>(sortedList.Values);
+                    break;
+                }
+            }
+            finally
+            {
+                udpDataLock.ExitReadLock();
             }
         }
 
@@ -282,10 +302,19 @@ public class UDPServer
             isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
             if (isTimeout) break;
 
-            if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue))
+            udpDataLock.EnterReadLock();
+            try
             {
-                count = dataQueue.Count;
-                break;
+                var key = $"{ipAddr}-{taskID}";
+                if (udpData.TryGetValue(key, out var sortedList))
+                {
+                    count = sortedList.Count;
+                    break;
+                }
+            }
+            finally
+            {
+                udpDataLock.ExitReadLock();
             }
         }
 
@@ -357,16 +386,23 @@ public class UDPServer
         // 异步锁保护 udpData
         await Task.Run(() =>
         {
-            // Handle RemoteEP
-            if (endPoint is null)
+            try
             {
-                logger.Debug($"Receive Data from Unknown at {DateTime.Now.ToString()}:");
-                logger.Debug($"  Original Data : {BitConverter.ToString(data).Replace("-", " ")}");
-                return;
-            }
+                // Handle RemoteEP
+                if (endPoint is null)
+                {
+                    logger.Debug($"Receive Data from Unknown at {DateTime.Now.ToString()}:");
+                    logger.Debug($"  Original Data : {BitConverter.ToString(data).Replace("-", " ")}");
+                    return;
+                }
 
-            var udpDataObj = RecordUDPData(data, endPoint, time, Convert.ToInt32(data[1]));
-            // PrintData(udpDataObj);
+                var udpDataObj = RecordUDPData(data, endPoint, time, Convert.ToInt32(data[1]));
+                // PrintData(udpDataObj);
+            }
+            catch (Exception e)
+            {
+                logger.Error($"Got Error when handle receive:{e}");
+            }
         });
     }
 
@@ -384,21 +420,27 @@ public class UDPServer
             HasRead = false,
         };
 
-
-        lock (udpData)
+        udpDataLock.EnterWriteLock();
+        try
         {
             var key = $"{remoteAddress}-{taskID}";
-            var dataQueue = udpData.GetOrAdd(key, _ => new ConcurrentQueue<UDPData>());
-            dataQueue.Enqueue(data);
+            var sortedList = udpData.GetOrAdd(key, _ => new SortedList<DateTime, UDPData>());
 
-            // 对队列进行一次按时间排序
-            if (dataQueue.Count > 0)
+            // 处理相同时间戳的情况，添加微小的时间差
+            var uniqueTime = time;
+            while (sortedList.ContainsKey(uniqueTime))
             {
-                var sorted = dataQueue.OrderBy(d => d.DateTime).ToList();
-                udpData.TryUpdate(key, new ConcurrentQueue<UDPData>(sorted), dataQueue);
+                logger.Warn(
+                    $"Duplicate timestamp detected for {remoteAddress}:{remotePort} at {uniqueTime}.");
+                uniqueTime = uniqueTime.AddTicks(1);
             }
 
-            PrintAllData();
+            sortedList.Add(uniqueTime, data);
+            // PrintAllData();
+        }
+        finally
+        {
+            udpDataLock.ExitWriteLock();
         }
 
         return data;
@@ -461,13 +503,21 @@ public class UDPServer
     {
         logger.Debug("Ready Data:");
 
-        foreach (var kvp in udpData)
+        udpDataLock.EnterReadLock();
+        try
         {
-            foreach (var data in kvp.Value)
+            foreach (var kvp in udpData)
             {
-                logger.Debug(PrintData(data));
+                foreach (var data in kvp.Value.Values)
+                {
+                    logger.Debug(PrintData(data));
+                }
             }
         }
+        finally
+        {
+            udpDataLock.ExitReadLock();
+        }
     }
 
     /// <summary>
@@ -479,10 +529,17 @@ public class UDPServer
     public void ClearUDPData(string ipAddr, int taskID)
     {
         var key = $"{ipAddr}-{taskID}";
-        if (udpData.TryGetValue(key, out var dataQueue))
+        udpDataLock.EnterWriteLock();
+        try
         {
-            // 清空队列的最有效方式是替换为新的队列
-            udpData.TryUpdate(key, new ConcurrentQueue<UDPData>(), dataQueue);
+            if (udpData.TryGetValue(key, out var sortedList))
+            {
+                sortedList.Clear();
+            }
+        }
+        finally
+        {
+            udpDataLock.ExitWriteLock();
         }
 
         // 强制进行ARP刷新，防止后续传输时造成影响
@@ -603,7 +660,7 @@ public class UDPServer
             };
 
             process.Start();
-            
+
             // 设置超时时间，避免进程挂起
             if (process.WaitForExit(5000)) // 5秒超时
             {
@@ -648,8 +705,8 @@ public class UDPServer
                     {
                         try
                         {
-                            UdpReceiveResult result = await client.ReceiveAsync();
-                            ReceiveHandler(result.Buffer, result.RemoteEndPoint, DateTime.Now);
+                            var result = await client.ReceiveAsync();
+                            _ = ReceiveHandler(result.Buffer, result.RemoteEndPoint, DateTime.Now);
                         }
                         catch (Exception ex)
                         {
@@ -679,5 +736,32 @@ public class UDPServer
         this.isRunning = false;
 
     }
+
+    /// <summary>
+    /// 释放资源
+    /// </summary>
+    public void Dispose()
+    {
+        Dispose(true);
+        GC.SuppressFinalize(this);
+    }
+
+    protected virtual void Dispose(bool disposing)
+    {
+        if (!disposed)
+        {
+            if (disposing)
+            {
+                Stop();
+                udpDataLock?.Dispose();
+            }
+            disposed = true;
+        }
+    }
+
+    ~UDPServer()
+    {
+        Dispose(false);
+    }
 }