diff --git a/tests/test_alert_manager.cpp b/tests/test_alert_manager.cpp
index 5bc247a..02969ad 100644
--- a/tests/test_alert_manager.cpp
+++ b/tests/test_alert_manager.cpp
@@ -1,267 +1,258 @@
-#include "gtest/gtest.h"
+#include <gtest/gtest.h>
+#include <gmock/gmock.h>
 #include "alert_manager.hpp"
-#include <vector>
-#include <string>
+#include <sstream>
+#include <iostream>
 
-// Mock for time to ensure deterministic tests
-static uint32_t mock_timestamp = 1640995200; // 2022-01-01 00:00:00 UTC
-
-class MockTime { 
-public:
-    static uint32_t getTimestamp() { return mock_timestamp; }
-    static void setTimestamp(uint32_t t) { mock_timestamp = t; }
-};
-
-// Helper function to compare AlertInfo
-bool operator==(const AlertInfo& a, const AlertInfo& b) {
-    return a.type == b.type &&
-           a.status == b.status &&
-           a.trigger_time == b.trigger_time &&
-           a.acknowledge_time == b.acknowledge_time &&
-           a.resolve_time == b.resolve_time &&
-           a.description == b.description;
-}
-
-// Test fixture
 class AlertManagerTest : public ::testing::Test {
 protected:
-    AlertManager manager;
+    AlertManager alert_manager;
 
     void SetUp() override {
-        mock_timestamp = 1640995200;
-        manager.initialize();
+        // 重置输出流缓冲区，避免测试输出干扰
+        testing::internal::CaptureStdout();
+        testing::internal::CaptureStderr();
     }
 
     void TearDown() override {
-        manager.clearHistory();
+        testing::internal::GetCapturedStdout();
+        testing::internal::GetCapturedStderr();
     }
 };
 
-TEST_F(AlertManagerTest, testAlertManagerDefaultInitialization) {
-    EXPECT_FLOAT_EQ(manager.getAltitudeThresholds().first, 100.0f);
-    EXPECT_FLOAT_EQ(manager.getAltitudeThresholds().second, -50.0f);
-    EXPECT_TRUE(manager.getActiveAlerts().empty());
-    EXPECT_TRUE(manager.getAlertHistory(10).empty());
+// 测试 checkAltitudeAlert 函数
+// 正常输入测试：高度在阈值范围内，不应触发预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertNormalRange) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    alert_manager.checkAltitudeAlert(50.0f, 1000);
+    
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
+    EXPECT_FALSE(alert_manager.hasUnacknowledgedAlerts());
 }
 
-TEST_F(AlertManagerTest, testInitialize) {
-    // No direct output assertion, but verify initialization logic
-    // This is tested implicitly via constructor
-    EXPECT_NO_FATAL_FAILURE(manager.initialize());
+// 正常输入测试：高度超过上限，应触发上限预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertUpperThreshold) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    alert_manager.checkAltitudeAlert(150.0f, 1000);
+    
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
+    auto active_alerts = alert_manager.getActiveAlerts();
+    ASSERT_EQ(active_alerts.size(), 1);
+    EXPECT_EQ(active_alerts[0].type, AlertType::ALTITUDE_UPPER);
+    EXPECT_EQ(active_alerts[0].status, AlertStatus::ACTIVE);
 }
 
-TEST_F(AlertManagerTest, testCheckAltitudeAlertNormal) {
-    mock_timestamp = 1640995200;
-    manager.checkAltitudeAlert(105.0f, mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::ALTITUDE_UPPER);
-    EXPECT_EQ(alerts[0].status, AlertStatus::ACTIVE);
-    EXPECT_EQ(alerts[0].trigger_time, mock_timestamp);
+// 正常输入测试：高度低于下限，应触发下限预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertLowerThreshold) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    alert_manager.checkAltitudeAlert(-100.0f, 1000);
+    
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
+    auto active_alerts = alert_manager.getActiveAlerts();
+    ASSERT_EQ(active_alerts.size(), 1);
+    EXPECT_EQ(active_alerts[0].type, AlertType::ALTITUDE_LOWER);
+    EXPECT_EQ(active_alerts[0].status, AlertStatus::ACTIVE);
 }
 
-TEST_F(AlertManagerTest, testCheckAltitudeAlertBelowLower) {
-    mock_timestamp = 1640995200;
-    manager.checkAltitudeAlert(-55.0f, mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::ALTITUDE_LOWER);
-    EXPECT_EQ(alerts[0].status, AlertStatus::ACTIVE);
+// 边界值测试：高度等于上限阈值，不应触发预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertAtUpperBoundary) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    alert_manager.checkAltitudeAlert(100.0f, 1000);
+    
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
 }
 
-TEST_F(AlertManagerTest, testCheckAltitudeAlertResetWhenNormal) {
-    mock_timestamp = 1640995200;
-    manager.checkAltitudeAlert(105.0f, mock_timestamp); // Trigger upper
-    mock_timestamp = 1640995201;
-    manager.checkAltitudeAlert(90.0f, mock_timestamp); // Reset
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
+// 边界值测试：高度等于下限阈值，不应触发预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertAtLowerBoundary) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    alert_manager.checkAltitudeAlert(-50.0f, 1000);
+    
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
 }
 
+// 边界值测试：高度略高于上限阈值，应触发预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertJustAboveUpper) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    alert_manager.checkAltitudeAlert(100.001f, 1000);
+    
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
+}
+
+// 边界值测试：高度略低于下限阈值，应触发预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertJustBelowLower) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    alert_manager.checkAltitudeAlert(-50.001f, 1000);
+    
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
+}
+
+// 特殊场景测试：高度从超限恢复正常，应解除预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertResolveAfterExceed) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    
+    // 触发上限预警
+    alert_manager.checkAltitudeAlert(150.0f, 1000);
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
+    
+    // 恢复正常
+    alert_manager.checkAltitudeAlert(50.0f, 1001);
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
+    
+    // 验证预警历史中有已解决的记录
+    auto history = alert_manager.getAlertHistory(10);
+    bool found_resolved = false;
+    for (const auto& alert : history) {
+        if (alert.type == AlertType::ALTITUDE_UPPER && 
+            alert.status == AlertStatus::RESOLVED) {
+            found_resolved = true;
+            break;
+        }
+    }
+    EXPECT_TRUE(found_resolved);
+}
+
+// 特殊场景测试：同时触发上下限预警（理论上不可能，但测试边界）
+TEST_F(AlertManagerTest, testCheckAltitudeAlertBothThresholds) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    
+    // 触发上限预警
+    alert_manager.checkAltitudeAlert(150.0f, 1000);
+    // 触发下限预警
+    alert_manager.checkAltitudeAlert(-100.0f, 1001);
+    
+    auto active_alerts = alert_manager.getActiveAlerts();
+    EXPECT_EQ(active_alerts.size(), 2);
+}
+
+// 异常输入测试：高度为极大值
+TEST_F(AlertManagerTest, testCheckAltitudeAlertMaxFloat) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    alert_manager.checkAltitudeAlert(std::numeric_limits<float>::max(), 1000);
+    
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
+    auto active_alerts = alert_manager.getActiveAlerts();
+    EXPECT_EQ(active_alerts[0].type, AlertType::ALTITUDE_UPPER);
+}
+
+// 异常输入测试：高度为极小值
+TEST_F(AlertManagerTest, testCheckAltitudeAlertMinFloat) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    alert_manager.checkAltitudeAlert(std::numeric_limits<float>::lowest(), 1000);
+    
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
+    auto active_alerts = alert_manager.getActiveAlerts();
+    EXPECT_EQ(active_alerts[0].type, AlertType::ALTITUDE_LOWER);
+}
+
+// 测试 setAltitudeThresholds 函数
+// 正常输入测试：设置有效的上下限阈值
 TEST_F(AlertManagerTest, testSetAltitudeThresholdsValid) {
-    manager.setAltitudeThresholds(200.0f, -100.0f);
-    auto thresholds = manager.getAltitudeThresholds();
-    EXPECT_FLOAT_EQ(thresholds.first, 200.0f);
-    EXPECT_FLOAT_EQ(thresholds.second, -100.0f);
+    alert_manager.setAltitudeThresholds(200.0f, -100.0f);
+    
+    // 验证新阈值生效
+    alert_manager.checkAltitudeAlert(150.0f, 1000);
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
+    
+    alert_manager.checkAltitudeAlert(250.0f, 1001);
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
 }
 
+// 异常输入测试：上限等于下限，应输出错误并保持原阈值
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsEqual) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    
+    // 尝试设置相等的阈值
+    alert_manager.setAltitudeThresholds(50.0f, 50.0f);
+    
+    // 验证原阈值保持不变
+    alert_manager.checkAltitudeAlert(75.0f, 1000);
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
+    
+    alert_manager.checkAltitudeAlert(101.0f, 1001);
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
+}
+
+// 异常输入测试：上限小于下限，应输出错误并保持原阈值
 TEST_F(AlertManagerTest, testSetAltitudeThresholdsInvalid) {
-    EXPECT_NO_FATAL_FAILURE(manager.setAltitudeThresholds(50.0f, 100.0f));
-    // Should print error, but no crash
-    EXPECT_FLOAT_EQ(manager.getAltitudeThresholds().first, 100.0f);
-    EXPECT_FLOAT_EQ(manager.getAltitudeThresholds().second, -50.0f);
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    
+    // 尝试设置无效的阈值
+    alert_manager.setAltitudeThresholds(-100.0f, 200.0f);
+    
+    // 验证原阈值保持不变
+    alert_manager.checkAltitudeAlert(75.0f, 1000);
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
+    
+    alert_manager.checkAltitudeAlert(101.0f, 1001);
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
 }
 
-TEST_F(AlertManagerTest, testTriggerSensorFailure) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::SENSOR_FAILURE);
-    EXPECT_EQ(alerts[0].status, AlertStatus::ACTIVE);
-    EXPECT_EQ(alerts[0].trigger_time, mock_timestamp);
+// 特殊场景测试：设置阈值后，原有预警应被重置
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsResetAlerts) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    
+    // 触发预警
+    alert_manager.checkAltitudeAlert(150.0f, 1000);
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
+    
+    // 设置新阈值，应重置预警
+    alert_manager.setAltitudeThresholds(200.0f, -100.0f);
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
 }
 
-TEST_F(AlertManagerTest, testTriggerLowBattery) {
-    mock_timestamp = 1640995200;
-    manager.triggerLowBattery(mock_timestamp, 15.0f);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::LOW_BATTERY);
-    EXPECT_EQ(alerts[0].status, AlertStatus::ACTIVE);
-    EXPECT_NE(alerts[0].description.find("15.0%"), std::string::npos);
+// 边界值测试：设置极大阈值
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsMaxValues) {
+    float upper = std::numeric_limits<float>::max();
+    float lower = -std::numeric_limits<float>::max();
+    
+    alert_manager.setAltitudeThresholds(upper, lower);
+    
+    // 验证阈值设置成功
+    alert_manager.checkAltitudeAlert(0.0f, 1000);
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
 }
 
-TEST_F(AlertManagerTest, testTriggerCommunicationError) {
-    mock_timestamp = 1640995200;
-    manager.triggerCommunicationError(mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::COMMUNICATION_ERROR);
-    EXPECT_EQ(alerts[0].status, AlertStatus::ACTIVE);
+// 边界值测试：设置极小阈值
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsMinValues) {
+    float upper = 0.0f;
+    float lower = -std::numeric_limits<float>::max();
+    
+    alert_manager.setAltitudeThresholds(upper, lower);
+    
+    // 验证阈值设置成功
+    alert_manager.checkAltitudeAlert(-100.0f, 1000);
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
+    
+    alert_manager.checkAltitudeAlert(1.0f, 1001);
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
 }
 
-TEST_F(AlertManagerTest, testAcknowledgeAllAlerts) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    manager.triggerLowBattery(mock_timestamp + 1, 10.0f);
-    mock_timestamp = 1640995202;
-    manager.acknowledgeAllAlerts(mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-    EXPECT_EQ(alerts.size(), 0);
+// 特殊场景测试：连续多次设置阈值
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsMultipleTimes) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    alert_manager.setAltitudeThresholds(200.0f, -100.0f);
+    alert_manager.setAltitudeThresholds(300.0f, -150.0f);
+    
+    // 验证最后一次设置生效
+    alert_manager.checkAltitudeAlert(250.0f, 1000);
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
+    
+    alert_manager.checkAltitudeAlert(350.0f, 1001);
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
 }
 
-TEST_F(AlertManagerTest, testAcknowledgeAlert) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    mock_timestamp = 1640995201;
-    manager.acknowledgeAlert(AlertType::SENSOR_FAILURE, mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-}
-
-TEST_F(AlertManagerTest, testResetAlert) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    manager.resetAlert(AlertType::SENSOR_FAILURE);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-}
-
-TEST_F(AlertManagerTest, testResetAllAlerts) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    manager.triggerLowBattery(mock_timestamp + 1, 10.0f);
-    manager.resetAllAlerts();
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-}
-
-TEST_F(AlertManagerTest, testHasActiveAlerts) {
-    EXPECT_FALSE(manager.hasActiveAlerts());
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    EXPECT_TRUE(manager.hasActiveAlerts());
-}
-
-TEST_F(AlertManagerTest, testHasUnacknowledgedAlerts) {
-    EXPECT_FALSE(manager.hasUnacknowledgedAlerts());
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    EXPECT_TRUE(manager.hasUnacknowledgedAlerts());
-    manager.acknowledgeAllAlerts(mock_timestamp + 1);
-    EXPECT_FALSE(manager.hasUnacknowledgedAlerts());
-}
-
-TEST_F(AlertManagerTest, testGetActiveAlerts) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::SENSOR_FAILURE);
-}
-
-TEST_F(AlertManagerTest, testGetAlertHistoryMaxCount) {
-    mock_timestamp = 1640995200;
-    for (int i = 0; i < 15; ++i) {
-        manager.triggerSensorFailure(mock_timestamp + i);
-    }
-    auto history = manager.getAlertHistory(10);
-    EXPECT_EQ(history.size(), 10);
-}
-
-TEST_F(AlertManagerTest, testGetStatusDescriptionNoAlerts) {
-    std::string desc = manager.getStatusDescription();
-    EXPECT_EQ(desc, "系统状态：正常");
-}
-
-TEST_F(AlertManagerTest, testGetStatusDescriptionWithAlerts) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    std::string desc = manager.getStatusDescription();
-    EXPECT_NE(desc.find("有1个活动预警"), std::string::npos);
-    EXPECT_NE(desc.find("传感器故障"), std::string::npos);
-}
-
-TEST_F(AlertManagerTest, testClearHistory) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    manager.clearHistory();
-    EXPECT_TRUE(manager.getAlertHistory(10).empty());
-}
-
-TEST_F(AlertManagerTest, testAddToHistoryLimit) {
-    mock_timestamp = 1640995200;
-    for (int i = 0; i < 100; ++i) {
-        manager.triggerSensorFailure(mock_timestamp + i);
-    }
-    auto history = manager.getAlertHistory(10);
-    EXPECT_EQ(history.size(), 10);
-}
-
-TEST_F(AlertManagerTest, testTriggerAlert) {
-    mock_timestamp = 1640995200;
-    manager.triggerAlert(AlertType::SENSOR_FAILURE, mock_timestamp, "Test alert");
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].description, "Test alert");
-}
-
-TEST_F(AlertManagerTest, testUpdateAlertStatusAcknowledged) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    mock_timestamp = 1640995201;
-    manager.updateAlertStatus(AlertType::SENSOR_FAILURE, AlertStatus::ACKNOWLEDGED, mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-}
-
-TEST_F(AlertManagerTest, testUpdateAlertStatusResolved) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    mock_timestamp = 1640995201;
-    manager.updateAlertStatus(AlertType::SENSOR_FAILURE, AlertStatus::RESOLVED, mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-}
-
-TEST_F(AlertManagerTest, testGetAlertTypeName) {
-    EXPECT_EQ(manager.getAlertTypeName(AlertType::ALTITUDE_UPPER), "高度上限预警");
-    EXPECT_EQ(manager.getAlertTypeName(AlertType::NONE), "无");
-    EXPECT_EQ(manager.getAlertTypeName(static_cast<AlertType>(99)), "未知预警");
-}
-
-TEST_F(AlertManagerTest, testGetAlertStatusName) {
-    EXPECT_EQ(manager.getAlertStatusName(AlertStatus::ACTIVE), "预警中");
-    EXPECT_EQ(manager.getAlertStatusName(AlertStatus::INACTIVE), "未激活");
-    EXPECT_EQ(manager.getAlertStatusName(static_cast<AlertStatus>(99)), "未知状态");
-}
-
-TEST_F(AlertManagerTest, testDestructorDoesNotCrash) {
-    // Verify destructor doesn't throw or crash
-    EXPECT_NO_FATAL_FAILURE({
-        AlertManager* mgr = new AlertManager();
-        delete mgr;
-    });
-}
\ No newline at end of file
+// 特殊场景测试：设置阈值后立即检查预警状态
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsImmediateCheck) {
+    alert_manager.setAltitudeThresholds(100.0f, -50.0f);
+    
+    // 触发预警
+    alert_manager.checkAltitudeAlert(150.0f, 1000);
+    EXPECT_TRUE(alert_manager.hasActiveAlerts());
+    
+    // 设置新阈值，预警被重置
+    alert_manager.setAltitudeThresholds(200.0f, -100.0f);
+    EXPECT_FALSE(alert_manager.hasActiveAlerts());
+    
+    // 立即检查，不应有预警
+    alert_manager.checkAltitudeAlert(150.0f, 1001);
+    EXPECT_FALSE(alert_manager.hasActiveAl
\ No newline at end of file