diff --git a/src/PathPlanning/GridMapGenerator.cs b/src/PathPlanning/GridMapGenerator.cs
index 09e8911..7880466 100644
--- a/src/PathPlanning/GridMapGenerator.cs
+++ b/src/PathPlanning/GridMapGenerator.cs
@@ -62,11 +62,23 @@ namespace NavisworksTransport.PathPlanning
             {
                 LogManager.Info("【生成网格地图】开始生成网格地图");
                 var startTime = DateTime.Now;
-                
-                // 重要：将米制网格大小转换为模型单位
+
+                // 第一步：统一转换所有米制参数为模型单位
                 double metersToModelUnitsConversionFactor = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
                 double cellSizeInModelUnits = cellSize * metersToModelUnitsConversionFactor;
-                LogManager.Info($"【生成网格地图】网格大小单位转换: {cellSize}米 → {cellSizeInModelUnits:F2}模型单位 (转换系数: {metersToModelUnitsConversionFactor:F2})");
+                double vehicleRadiusInModelUnits = vehicleRadius * metersToModelUnitsConversionFactor;
+                double safetyMarginInModelUnits = safetyMargin * metersToModelUnitsConversionFactor;
+                double vehicleHeightInModelUnits = vehicleHeight * metersToModelUnitsConversionFactor;
+                double scanHeightInModelUnits = vehicleHeightInModelUnits + safetyMarginInModelUnits; // 扫描高度 = 车辆高度 + 安全间隙
+                double totalInflationRadiusInModelUnits = vehicleRadiusInModelUnits + safetyMarginInModelUnits; // 膨胀半径 = 车辆半径 + 安全间隙
+
+                LogManager.Info($"【生成网格地图】参数单位转换完成 (转换系数: {metersToModelUnitsConversionFactor:F2}):");
+                LogManager.Info($"  网格大小: {cellSize}米 → {cellSizeInModelUnits:F2}模型单位");
+                LogManager.Info($"  车辆半径: {vehicleRadius}米 → {vehicleRadiusInModelUnits:F2}模型单位");
+                LogManager.Info($"  安全间隙: {safetyMargin}米 → {safetyMarginInModelUnits:F2}模型单位");
+                LogManager.Info($"  车辆高度: {vehicleHeight}米 → {vehicleHeightInModelUnits:F2}模型单位");
+                LogManager.Info($"  扫描高度: {scanHeightInModelUnits:F2}模型单位");
+                LogManager.Info($"  膨胀半径: {totalInflationRadiusInModelUnits:F2}模型单位");
                 
                 // 1. 使用通道构建器构建基础通道覆盖网格
                 LogManager.Info("【生成网格地图】步骤1: 构建通道覆盖网格");
@@ -88,15 +100,14 @@ namespace NavisworksTransport.PathPlanning
                 
                 // 2. 直接遍历处理障碍物（包围盒检测） - 使用高性能优化版本
                 LogManager.Info("【生成网格地图】步骤2: 高性能包围盒遍历处理障碍物");
-                double scanHeight = vehicleHeight + safetyMargin; // 扫描高度 = 车辆高度 + 安全间隙
-                double minChannelTopZ = channelCoverage.MinChannelTopZ; // 提取最小通道顶面高度
-                ProcessObstaclesWithBoundingBoxOptimized(document, channelCoverage.GridMap, channelRelatedItems, scanHeight, minChannelTopZ);
+                double minChannelTopZ = channelCoverage.MinChannelTopZ; // 提取最小通道顶面高度（模型单位）
+                ProcessObstaclesWithBoundingBoxOptimized(document, channelCoverage.GridMap, channelRelatedItems, scanHeightInModelUnits, minChannelTopZ);
                 
                 LogManager.Info($"【阶段2完成】障碍物处理后网格统计: {channelCoverage.GridMap.GetStatistics()}");
 
                 // 2.5. 为所有可通行网格设置PassableHeights确保高度约束检查
                 LogManager.Info("【生成网格地图】步骤2.5: 为可通行网格设置高度约束");
-                SetChannelPassableHeights(channelCoverage.GridMap, scanHeight);
+                SetChannelPassableHeights(channelCoverage.GridMap, scanHeightInModelUnits);
                 LogManager.Info($"【阶段2.5完成】高度约束设置后网格统计: {channelCoverage.GridMap.GetStatistics()}");
 
                 // 2.6. 单独处理门元素，设置为可通行，并设置通行高度
@@ -108,10 +119,8 @@ namespace NavisworksTransport.PathPlanning
                 if (vehicleRadius > 0 || safetyMargin > 0)
                 {
                     LogManager.Info("【生成网格地图】步骤3: 应用车辆膨胀");
-                    double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
-                    double totalInflationRadius = (vehicleRadius + safetyMargin) * metersToModelUnits;
-                    ApplyVehicleInflation(channelCoverage.GridMap, totalInflationRadius);
-                    LogManager.Info($"【生成网格地图】车辆膨胀完成，膨胀半径: {totalInflationRadius:F2}模型单位");
+                    ApplyVehicleInflation(channelCoverage.GridMap, totalInflationRadiusInModelUnits);
+                    LogManager.Info($"【生成网格地图】车辆膨胀完成，膨胀半径: {totalInflationRadiusInModelUnits:F2}模型单位");
                     LogManager.Info($"【阶段3完成】车辆膨胀后网格统计: {channelCoverage.GridMap.GetStatistics()}");
                 }
                 
@@ -195,7 +204,7 @@ namespace NavisworksTransport.PathPlanning
                         
                         // 获取门的限高属性
                         string heightLimitStr = CategoryAttributeManager.GetLogisticsPropertyValue(doorItem, CategoryAttributeManager.LogisticsProperties.HEIGHT_LIMIT);
-                         double configuredHeight = CategoryAttributeManager.ParseLogisticsLimitValue(heightLimitStr, "限高");
+                        double configuredHeight = CategoryAttributeManager.ParseLogisticsLimitValue(heightLimitStr, "限高");
 
                         // 计算门的实际物理高度
                         double actualDoorHeight = bbox.Max.Z - bbox.Min.Z;
@@ -270,14 +279,10 @@ namespace NavisworksTransport.PathPlanning
         /// 为所有可通行网格设置PassableHeights确保高度约束检查
         /// </summary>
         /// <param name="gridMap">网格地图</param>
-        /// <param name="scanHeight">扫描高度（车辆高度+安全间隙）</param>
-        private void SetChannelPassableHeights(GridMap gridMap, double scanHeight)
+        /// <param name="scanHeightInModelUnits">扫描高度（模型单位）</param>
+        private void SetChannelPassableHeights(GridMap gridMap, double scanHeightInModelUnits)
         {
-            // scanHeight是米，需要转换为模型单位
-            double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
-            double scanHeightInModelUnits = scanHeight * metersToModelUnits;
-
-            LogManager.Info($"【高度约束设置】开始为所有可通行网格设置高度约束，扫描高度: {scanHeight:F2}米 ({scanHeightInModelUnits:F2}模型单位)");
+            LogManager.Info($"【高度约束设置】开始为所有可通行网格设置高度约束，扫描高度: {scanHeightInModelUnits:F2}模型单位");
 
             int processedCount = 0;
             for (int x = 0; x < gridMap.Width; x++)
@@ -563,17 +568,17 @@ namespace NavisworksTransport.PathPlanning
         /// 在障碍物周围扩展不可通行区域，考虑车辆尺寸
         /// </summary>
         /// <param name="gridMap">网格地图</param>
-        /// <param name="vehicleRadius">车辆半径</param>
-        public void ApplyVehicleInflation(GridMap gridMap, double vehicleRadius)
+        /// <param name="vehicleRadiusInModelUnits">车辆半径（模型单位）</param>
+        private void ApplyVehicleInflation(GridMap gridMap, double vehicleRadiusInModelUnits)
         {
-            if (vehicleRadius <= 0) return;
+            if (vehicleRadiusInModelUnits <= 0) return;
 
             try
-            {                
+            {
                 // 计算膨胀半径（网格单元格数）
-                int inflationRadius = (int)Math.Ceiling(vehicleRadius / gridMap.CellSize);
+                int inflationRadius = (int)Math.Ceiling(vehicleRadiusInModelUnits / gridMap.CellSize);
                 LogManager.Info($"[高效膨胀] 膨胀半径: {inflationRadius}个网格单元");
-                
+
                 // 使用高效的距离变换算法
                 ApplyVehicleInflationOptimized(gridMap, inflationRadius);
             }
@@ -977,7 +982,7 @@ namespace NavisworksTransport.PathPlanning
             List<ModelItem> geometryItems,
             HashSet<ModelItem> channelItemsSet,
             GridMap gridMap,
-            double scanHeight,
+            double scanHeightInModelUnits,
             double minChannelTopZ)
         {
             LogManager.Info("[轻量级后处理] 开始处理Search API筛选结果");
@@ -1038,7 +1043,7 @@ namespace NavisworksTransport.PathPlanning
                     }
                     
                     // 快速计算：高度范围检查（纯数值计算，无API调用）
-                    properties.IsInScanHeightRange = IsInScanHeightRange(properties.BoundingBox, minChannelTopZ, scanHeight);
+                    properties.IsInScanHeightRange = IsInScanHeightRange(properties.BoundingBox, minChannelTopZ, scanHeightInModelUnits);
                     if (!properties.IsInScanHeightRange)
                     {
                         skippedByHeight++;
@@ -1068,9 +1073,9 @@ namespace NavisworksTransport.PathPlanning
         /// <param name="document">Navisworks文档</param>
         /// <param name="gridMap">网格地图</param>
         /// <param name="channelItems">通道模型项列表</param>
-        /// <param name="scanHeight">扫描高度范围</param>
+        /// <param name="scanHeightInModelUnits">扫描高度范围（模型单位）</param>
         /// <param name="minChannelTopZ">最小通道顶面高度，用作扫描基准</param>
-        private void ProcessObstaclesWithBoundingBoxOptimized(Document document, GridMap gridMap, HashSet<ModelItem> channelItems, double scanHeight, double minChannelTopZ)
+        private void ProcessObstaclesWithBoundingBoxOptimized(Document document, GridMap gridMap, HashSet<ModelItem> channelItems, double scanHeightInModelUnits, double minChannelTopZ)
         {
             try
             {
@@ -1085,7 +1090,7 @@ namespace NavisworksTransport.PathPlanning
                 LogManager.Info($"[高性能障碍物处理] 输入统计 - 几何体项目: {geometryItems.Count}, 通道元素: {channelItemsSet.Count}");
                 
                 // 阶段2：轻量级后处理（只对预筛选结果进行必要的API调用）
-                var itemCache = PostProcessGeometryItems(geometryItems, channelItemsSet, gridMap, scanHeight, minChannelTopZ);
+                var itemCache = PostProcessGeometryItems(geometryItems, channelItemsSet, gridMap, scanHeightInModelUnits, minChannelTopZ);
                 
                 // 阶段3：条件过滤（并行数值计算）- 使用50%CPU核心优化
                 LogManager.Info("[高性能障碍物处理] 阶段3: 并行条件过滤");
@@ -1354,16 +1359,16 @@ namespace NavisworksTransport.PathPlanning
         /// 检查包围盒是否在扫描高度范围内
         /// </summary>
         /// <param name="bbox">包围盒</param>
-        /// <param name="minChannelTopZ">最小通道顶面高度，用作扫描基准</param>
-        /// <param name="scanHeight">扫描高度范围</param>
+        /// <param name="minChannelTopZ">最小通道顶面高度，用作扫描基准（模型单位）</param>
+        /// <param name="scanHeightInModelUnits">扫描高度范围（模型单位）</param>
         /// <returns>是否在高度范围内</returns>
-        private bool IsInScanHeightRange(BoundingBox3D bbox, double minChannelTopZ, double scanHeight)
+        private bool IsInScanHeightRange(BoundingBox3D bbox, double minChannelTopZ, double scanHeightInModelUnits)
         {
             try
             {
                 // 使用最低通道顶面高度作为扫描基准，避免门高度干扰
-                var scanMinZ = minChannelTopZ;  // 最低通道顶面
-                var scanMaxZ = minChannelTopZ + scanHeight;  // 从最低通道顶面向上扫描
+                var scanMinZ = minChannelTopZ;  // 最低通道顶面（模型单位）
+                var scanMaxZ = minChannelTopZ + scanHeightInModelUnits;  // 从最低通道顶面向上扫描（模型单位）
 
                 // 检查包围盒的Z范围是否与扫描范围有重叠
                 return !(bbox.Max.Z < scanMinZ || bbox.Min.Z > scanMaxZ);