diff --git a/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs b/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs
index f9b0cea..64d4ea2 100644
--- a/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs
+++ b/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs
@@ -102,7 +102,7 @@ namespace ThreatSource.Missile
         /// <param name="missileId">导弹的唯一标识符</param>
         /// <param name="targetId">目标的唯一标识符</param>
         /// <param name="properties">导弹的配置参数</param>
-        /// <param name="launchParams">发射参数</param>
+        /// <param name="kinematicState">发射参数</param>
         /// <param name="submunitionProperties">子弹的配置参数</param>
         /// <param name="submunitionCount">子弹的数量</param>
         /// <param name="submunitionConfig">子弹药配置参数</param>
@@ -121,12 +121,12 @@ namespace ThreatSource.Missile
             string missileId,
             string targetId,
             MissileProperties properties, 
-            KinematicState launchParams,
+            KinematicState kinematicState,
             MissileProperties submunitionProperties, 
             int submunitionCount, 
             TerminalSensitiveSubmunitionConfig submunitionConfig,
             ISimulationManager manager)
-            : base(missileId, properties, launchParams, manager)
+            : base(missileId, properties, kinematicState, manager)
         {
             this.targetId = targetId;
             this.submunitionProperties = submunitionProperties;
@@ -136,18 +136,18 @@ namespace ThreatSource.Missile
             
             //计算分离点坐标，使用配置中的分离高度和距离
             SimulationElement target = SimulationManager.GetEntityById(targetId) as SimulationElement ?? throw new Exception("目标不存在");
-            separationPoint = Vector3D.PointOnLine(target.KState.Position, base.KState.Position, config.SeparationDistance) + new Vector3D(0, config.SeparationHeight, 0);
+            separationPoint = Vector3D.PointOnLine(target.KState.Position, KState.Position, config.SeparationDistance) + new Vector3D(0, config.SeparationHeight, 0);
             
             //计算导弹发射角度
-            (Orientation? launchOrientation, Vector3D? launchVelocity) = MotionAlgorithm.CalculateBestLaunchOrientation(base.KState.Position, separationPoint, base.KState.Speed);
-            if (!launchOrientation.HasValue || launchVelocity is null)
+            Vector3D? launchVelocityNullable = MotionAlgorithm.CalculateBestLaunchOrientation(KState.Position, separationPoint, KState.Speed);
+            if (launchVelocityNullable == null)
             {
                 throw new InvalidOperationException("无法计算发射方向");
             }
             else
             {
-                KState.Orientation = launchOrientation.Value;
-                KState.Velocity = launchVelocity;
+                KState.Velocity = launchVelocityNullable;
+                KState.Orientation = Orientation.FromVector(launchVelocityNullable); 
             }
         }
 
@@ -232,7 +232,7 @@ namespace ThreatSource.Missile
         /// </remarks>
         private void UpdateCruiseStage(double deltaTime)
         {
-            double distanceToSeparationPoint = (separationPoint - base.KState.Position).Magnitude();
+            double distanceToSeparationPoint = (separationPoint - KState.Position).Magnitude();
             //距离分离点距离小于配置的分离范围，则分离
             if (distanceToSeparationPoint <= config.SeparationRange)
             {
@@ -323,6 +323,10 @@ namespace ThreatSource.Missile
                 Debug.WriteLine($"注册末敏弹子弹 {submunitions[i].Id}");
                 submunitions[i].Activate();
                 Debug.WriteLine($"激活末敏弹子弹 {submunitions[i].Id}");
+                
+                Console.WriteLine($"[末敏弹分离] 母弹 KS: Pos={KState.Position}, Orient={KState.Orientation}, Speed={KState.Speed}, Vel={KState.Velocity}");
+                Console.WriteLine($"[末敏弹分离] 子弹 {i} KS: Pos={submunitions[i].KState.Position}, Orient={submunitions[i].KState.Orientation}, Speed={submunitions[i].KState.Speed}, Vel={submunitions[i].KState.Velocity}");
+
                 submunitions[i].Fire();
             }
 
diff --git a/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs b/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs
index bded552..be57548 100644
--- a/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs
+++ b/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs
@@ -172,7 +172,7 @@ namespace ThreatSource.Missile
         /// <param name="missileId">导弹ID</param>
         /// <param name="targetId">目标ID</param>
         /// <param name="properties">子弹配置参数</param>
-        /// <param name="launchParams">发射参数</param>
+        /// <param name="kinemateState">发射参数</param>
         /// <param name="submunitionConfig">子弹性能参数配置</param>
         /// <param name="manager">仿真管理器实例</param>
         /// <remarks>
@@ -186,10 +186,10 @@ namespace ThreatSource.Missile
             string missileId,
             string targetId,
             MissileProperties properties, 
-            KinematicState launchParams,
+            KinematicState kinemateState,
             TerminalSensitiveSubmunitionConfig submunitionConfig,
             ISimulationManager manager)
-            : base(missileId, properties, launchParams, manager)
+            : base(missileId, properties, kinemateState, manager)
         {
             TargetId = targetId;
             this.config = submunitionConfig;
diff --git a/ThreatSource/src/Sensor/SensorData.cs b/ThreatSource/src/Sensor/SensorData.cs
index fff9520..d324c28 100644
--- a/ThreatSource/src/Sensor/SensorData.cs
+++ b/ThreatSource/src/Sensor/SensorData.cs
@@ -32,7 +32,7 @@ namespace ThreatSource.Sensor
         /// <returns>传感器数据字符串表示</returns>
         public override string ToString()
         {
-            return $"IsValid: {IsValid}";
+            return $"IsValid={IsValid}";
         }
     }
 
@@ -82,7 +82,7 @@ namespace ThreatSource.Sensor
         /// <returns>传感器数据字符串表示</returns>
         public override string ToString()
         {
-            return base.ToString() + $", Temperature: {Temperature:F2}, IsTargetDetected: {IsTargetDetected}, TargetAngle: {TargetAngle:F2}";
+            return base.ToString() + $", Temperature={Temperature:F2}, IsTargetDetected={IsTargetDetected}, TargetAngle={TargetAngle:F2}";
         }
     }
 
@@ -132,7 +132,7 @@ namespace ThreatSource.Sensor
         /// <returns>传感器数据字符串表示</returns>
         public override string ToString()
         {
-            return base.ToString() + $", RadiationIntensity: {RadiationIntensity:F2}, IsTargetDetected: {IsTargetDetected}, TargetAngle: {TargetAngle:F2}";
+            return base.ToString() + $", RadiationIntensity={RadiationIntensity:F2}, IsTargetDetected={IsTargetDetected}, TargetAngle={TargetAngle:F2}";
         }
     }
 
@@ -161,7 +161,7 @@ namespace ThreatSource.Sensor
         /// <returns>传感器数据字符串表示</returns>
         public override string ToString()
         {
-            return base.ToString() + $", Altitude: {Altitude:F2}";
+            return base.ToString() + $", Altitude={Altitude:F2}";
         }
         
     }
@@ -191,7 +191,7 @@ namespace ThreatSource.Sensor
         /// <returns>传感器数据字符串表示</returns>
         public override string ToString()
         {
-            return base.ToString() + $", Distance: {Distance:F2}";
+            return base.ToString() + $", Distance={Distance:F2}";
         }
     }
 }
diff --git a/ThreatSource/src/Simulation/ElementStatusInfo.cs b/ThreatSource/src/Simulation/ElementStatusInfo.cs
index fc97016..09c93b8 100644
--- a/ThreatSource/src/Simulation/ElementStatusInfo.cs
+++ b/ThreatSource/src/Simulation/ElementStatusInfo.cs
@@ -60,11 +60,30 @@ namespace ThreatSource.Simulation
         /// <returns>状态的字符串表示</returns>
         public override string ToString()
         {
-            string baseInfo = $"仿真元素 {ElementType} {Id} at {KState.Position}, Active: {IsActive}";
+            string baseInfo = $"[{ElementType}] Id={Id}, Active={IsActive}, 位置={KState.Position}, 方向={KState.Orientation}, 速度={KState.Speed:F2}, 速度矢量={KState.Velocity}";
             
             if (ExtendedProperties.Count > 0)
             {
-                string extendedInfo = string.Join(", ", ExtendedProperties.Select(p => $"{p.Key}={p.Value}"));
+                string extendedInfo = string.Join(", ", ExtendedProperties.Select(p => 
+                {
+                    string valueStr;
+                    if (p.Value is double d)
+                    {
+                        if (d > 0 && d < 1e-4)
+                        {
+                            valueStr = d.ToString("E2");
+                        }
+                        else
+                        {
+                            valueStr = d.ToString("F2");
+                        }
+                    }
+                    else
+                    {
+                        valueStr = p.Value?.ToString() ?? "null"; // 处理可能的null值
+                    }
+                    return $"{p.Key}={valueStr}";
+                }));
                 return $"{baseInfo}, {extendedInfo}";
             }
             
diff --git a/ThreatSource/src/Utils/MotionAlgorithm.cs b/ThreatSource/src/Utils/MotionAlgorithm.cs
index 5c5d35f..9705d2f 100644
--- a/ThreatSource/src/Utils/MotionAlgorithm.cs
+++ b/ThreatSource/src/Utils/MotionAlgorithm.cs
@@ -23,12 +23,12 @@ namespace ThreatSource.Utils
         /// <param name="startPos">发射位置坐标</param>
         /// <param name="targetPos">目标位置坐标</param>
         /// <param name="initialSpeed">发射初速度，单位：米/秒</param>
-        /// <returns>包含最佳发射方向和初始速度向量的元组，如果无解则返回null</returns>
+        /// <returns>最佳发射初始速度，如果无解则返回null</returns>
         /// <remarks>
         /// 该方法使用弹道方程计算两个可能的发射角度，并选择较小的仰角作为最佳发射方向。
         /// 计算考虑了重力影响，但未考虑空气阻力。
         /// </remarks>
-        public static (Orientation? orientation, Vector3D? velocity) CalculateBestLaunchOrientation(Vector3D startPos, Vector3D targetPos, double initialSpeed)
+        public static Vector3D? CalculateBestLaunchOrientation(Vector3D startPos, Vector3D targetPos, double initialSpeed)
         {
             // 计算水平距离
             double dx = targetPos.X - startPos.X;
@@ -43,7 +43,7 @@ namespace ThreatSource.Utils
             if (angles == null)
             {
                 Debug.WriteLine("无法计算发射角度");
-                return (null, null);
+                return null;
             }
 
             double bestAngle = Math.Min(angles[0], angles[1]);
@@ -54,7 +54,7 @@ namespace ThreatSource.Utils
             double vz = initialSpeed * Math.Cos(bestAngle) * Math.Sin(azimuth);
 
             // 返回方向和速度
-            return (new Orientation(bestAngle, azimuth, 0), new Vector3D(vx, vy, vz));
+            return new Vector3D(vx, vy, vz);
         }
 
         /// <summary>
@@ -89,7 +89,7 @@ namespace ThreatSource.Utils
 
             Debug.WriteLine($"计算得到的两个角度: {angle1 * 180 / Math.PI:F2}° 和 {angle2 * 180 / Math.PI:F2}°");
             
-            return new[] { angle1, angle2 };
+            return [angle1, angle2];
         }
 
         /// <summary>
diff --git a/docs/project/tunning.md b/docs/project/tunning.md
index afe09cf..a0b7062 100644
--- a/docs/project/tunning.md
+++ b/docs/project/tunning.md
@@ -304,4 +304,25 @@
 2. 接近计算出的落点时，两个目标都离开了导引头视野，不再计算落点。导弹会惯性飞行，会偏离之前计算出的落点。
 
 
+## 末敏弹实验记录（v0.2.16）
+
+时间：2025-05-10 10:00:00
+版本：v0.2.16
+
+### 初始设置
+1. 末敏弹初始位置
+（300.0,0.0,20.0）
+
+2. 子弹分离点
+高度 1000米，距离 1000米，分离角 45度
+
+3. 坦克初始参数
+位置（0.0,1.2,0.0）
+朝向（0.0,0.0,0.0）（-Z轴）
+
+### 实验结果
+1. 坦克初速 0米/秒，仿真运行 30.2 秒，命中
+2. 坦克速度 0.5米/秒，仿真运行 29.7 秒，命中
+3. 坦克速度 1米/秒，仿真运行 38 秒，自毁
+
 
diff --git a/tools/ComprehensiveMissileSimulator.cs b/tools/ComprehensiveMissileSimulator.cs
index 7b76c51..a1878b6 100644
--- a/tools/ComprehensiveMissileSimulator.cs
+++ b/tools/ComprehensiveMissileSimulator.cs
@@ -193,7 +193,7 @@ namespace ThreatSource.Tools.MissileSimulation
             {
                 Position = new Vector3D(0, 1.2, 0),
                 Orientation = new Orientation(0.0, 0.0, 0.0),
-                Speed = 1.0
+                Speed = 0.0
             };
             string targetId = "Tank_1";
             var target = _threatSourceFactory.CreateTarget(targetId, "mbt_001", motionParameters);