diff --git a/catkin_ws/src/asclinic_pkg/src/Kalman.cpp b/catkin_ws/src/asclinic_pkg/src/Kalman.cpp
index 75c700d06d3905787a7c2c70c56581bdabd17711..cc1d6481c10136bae1dc968a0ea628c16ef6f209 100644
--- a/catkin_ws/src/asclinic_pkg/src/Kalman.cpp
+++ b/catkin_ws/src/asclinic_pkg/src/Kalman.cpp
@@ -149,7 +149,7 @@ void ImageAnswer(const asclinic_pkg::position& msg) {
 
     //ROS_INFO_STREAM("new_pose: " << new_pose);
 
-    if (std::isnan(new_pose(0)) || std::isnan(new_pose(1)) || std::isnan(new_pose(2))) {
+    if (std::isnan(new_pose(0)) || std::isnan(new_pose(1)) || std::isnan(new_pose(2))||new_pose(0)<-2 ||new_pose(1)<-4) {
         x = odo_position(0);
         y = odo_position(1);
         phi = odo_position(2);