diff --git a/rm_auto_aim/armor_solver/include/armor_solver/armor_solver.hpp b/rm_auto_aim/armor_solver/include/armor_solver/armor_solver.hpp
index 2578e5d50a4d0d7c8dcc4fd8690f972021f9cfc6..79e6d92dcb4dac5b5ce67f6646e639258439f449 100644
--- a/rm_auto_aim/armor_solver/include/armor_solver/armor_solver.hpp
+++ b/rm_auto_aim/armor_solver/include/armor_solver/armor_solver.hpp
@@ -101,6 +101,10 @@ private:
   double leaving_angle_;
   int lock_id_ = -1;
 
+  // Aim offset (degrees) — decoupled from camera extrinsics
+  double yaw_offset_;
+  double pitch_offset_;
+
   // Fire decision parameters
   double first_tolerance_;
   double second_tolerance_;
diff --git a/rm_auto_aim/armor_solver/src/armor_solver.cpp b/rm_auto_aim/armor_solver/src/armor_solver.cpp
index 005405d4bfe6f8b0aecd837b03548fa930a9df2c..18cb3777456855a75d545178d6cea3141c570f7b 100644
--- a/rm_auto_aim/armor_solver/src/armor_solver.cpp
+++ b/rm_auto_aim/armor_solver/src/armor_solver.cpp
@@ -54,6 +54,10 @@ Solver::Solver(std::weak_ptr<rclcpp::Node> n) : node_(n) {
   second_tolerance_ = node->declare_parameter("solver.second_tolerance", 2.0);
   judge_distance_ = node->declare_parameter("solver.judge_distance", 2.0);
 
+  // 瞄准偏移量（与 launch rpy 解耦，不影响 yaw 优化）
+  yaw_offset_ = node->declare_parameter("solver.yaw_offset", 0.0);
+  pitch_offset_ = node->declare_parameter("solver.pitch_offset", 0.0);
+
   // 初始化弹道补偿器
   std::string compenstator_type = node->declare_parameter("solver.compensator_type", "ideal");
   trajectory_compensator_ = CompensatorFactory::createCompensator(compenstator_type);
@@ -85,6 +89,8 @@ rm_interfaces::msg::GimbalCmd Solver::solve(const rm_interfaces::msg::Target &ta
     first_tolerance_ = node->get_parameter("solver.first_tolerance").as_double();
     second_tolerance_ = node->get_parameter("solver.second_tolerance").as_double();
     judge_distance_ = node->get_parameter("solver.judge_distance").as_double();
+    yaw_offset_ = node->get_parameter("solver.yaw_offset").as_double();
+    pitch_offset_ = node->get_parameter("solver.pitch_offset").as_double();
     node.reset();
   } catch (const std::runtime_error &e) {
     FYT_ERROR("armor_solver", "{}", e.what());
@@ -220,6 +226,10 @@ rm_interfaces::msg::GimbalCmd Solver::solve(const rm_interfaces::msg::Target &ta
       break;
     }
   }
+  // 应用瞄准偏移（与 launch rpy 解耦）
+  yaw += yaw_offset_ * M_PI / 180.0;
+  pitch += pitch_offset_ * M_PI / 180.0;
+
   gimbal_cmd.yaw = yaw * 180 / M_PI;
   gimbal_cmd.pitch = pitch * 180 / M_PI;
   gimbal_cmd.yaw_diff = (yaw - rpy[2]) * 180 / M_PI;
diff --git a/rm_bringup/config/node_params/armor_solver_params.yaml b/rm_bringup/config/node_params/armor_solver_params.yaml
index 4bd363e1649ea9669725df35a7aba9fbb3887307..57627b44e1b47bebc39d4eed972f04e3f8a447ab 100644
--- a/rm_bringup/config/node_params/armor_solver_params.yaml
+++ b/rm_bringup/config/node_params/armor_solver_params.yaml
@@ -38,6 +38,11 @@
       first_tolerance: 3.0
       second_tolerance: 2.0
       judge_distance: 2.0
+      # 瞄准偏移量（单位：度）— 用于修正机械零位、管子歪等系统误差
+      # 与 launch 中的 xyz rpy（相机物理安装角度）解耦，不影响 yaw 优化
+      yaw_offset: 0.0
+      pitch_offset: 0.0
+
       bullet_speed: 23.0
       compensator_type: "ideal"
       gravity: 9.8035