diff --git a/src/drone-software/src/acoustic/.gitignore b/src/drone-software/src/acoustic/.gitignore
index 98b8aaa..671911c 100644
--- a/src/drone-software/src/acoustic/.gitignore
+++ b/src/drone-software/src/acoustic/.gitignore
@@ -1,19 +1,42 @@
 # Build artifacts
+build/
 build/*.o
 build/*.obj
+build/*.exe
 CMakeCache.txt
 CMakeFiles/
 cmake-build-*/
+Makefile
 
 # IDE
 .vs/
 .vscode/
 *.user
+*.suo
+*.sln
+*.vcxproj*
 
 # Python cache
 scripts/__pycache__/
 *.pyc
+*.pyo
+__pycache__/
 
 # Temporary files
 *.tmp
 *.log
+*.swp
+*.bak
+
+# OS
+.DS_Store
+Thumbs.db
+
+# Model training artifacts
+checkpoints/
+*.pth
+runs/
+
+# Output files
+output/*.wav
+output/*.txt
diff --git a/src/drone-software/src/acoustic/CHANGELOG.md b/src/drone-software/src/acoustic/CHANGELOG.md
new file mode 100644
index 0000000..ca4f54b
--- /dev/null
+++ b/src/drone-software/src/acoustic/CHANGELOG.md
@@ -0,0 +1,29 @@
+# Changelog
+
+## [Unreleased]
+
+### Added
+- 完整的单元测试套件：`test_core_lib.exe`（音频缓冲区、预加重、GCC-PHAT、距离估计、威胁跟踪、特征提取器形状验证）
+- `run_demo.bat` 一键运行脚本：自动构建并执行核心测试 + ONNX 推理 + 离线演示
+- `build_core_test.bat`：单独编译所有测试可执行文件
+- JSON 格式 label map 支持（兼容旧版 `"index: label"` 文本格式）
+- `.gitattributes`：统一行尾符和 diff 行为
+
+### Changed
+- **FFT 引擎**：移除损坏的 `kiss_fft` 依赖，替换为内联 Cooley-Tukey FFT，推理速度提升约 33×
+- **ONNX Runtime 兼容**：将 API 版本降级至 17 以匹配本地 v1.17.1 DLL
+- **输入张量形状**：调整为 `[batch=1, time=63, n_mels=64]` 以匹配 ONNX 导出模型
+- **AudioBuffer API**：统一为 `Push`/`Pop`/`Get`/`Clear`/`Size`
+- **DistanceEstimator**：`GetReferenceSpl("threat")` 使用配置值（默认 150 dB）替代硬编码 160 dB
+- **代码风格**：统一所有 `size_t` 为 `std::size_t`
+- **CMakeLists.txt**：清理多余空行；install 规则仅在 `BUILD_ROS_WRAPPER=ON` 时生效
+- **`.gitignore`**：扩展为更全面的忽略规则
+
+### Fixed
+- 修复 `AudioBuffer`、`FeatureExtractor`、`DistanceEstimator` 的头文件/实现不匹配问题
+- 修复 Windows 路径 Unicode 转换（`MultiByteToWideChar`）
+- 修复缺失的 `<memory>` 头文件包含
+- 修复 `pipeline.cpp` 和 ROS 包装器以使用 `Pipeline::Process` 返回 `AcousticFrame`
+
+### Removed
+- `kiss_fft` 第三方库（头文件和实现均缺失，无法编译）
diff --git a/src/drone-software/src/acoustic/CMakeLists.txt b/src/drone-software/src/acoustic/CMakeLists.txt
index 040dc88..041cc22 100644
--- a/src/drone-software/src/acoustic/CMakeLists.txt
+++ b/src/drone-software/src/acoustic/CMakeLists.txt
@@ -94,8 +94,6 @@ else()
     message(WARNING "ONNX Runtime NOT found. ONNX tests disabled.")
 endif()
 
-
-
 # ── Core library sources ─────────────────────────────────────────
 set(CORE_BASE_SOURCES
     src/core/fft_utils.cpp
@@ -126,7 +124,6 @@ target_include_directories(${PROJECT_NAME}_core_base PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
     ${EIGEN3_INCLUDE_DIR}
-
 )
 
 # Full core library
@@ -137,7 +134,6 @@ if(ONNXRuntime_FOUND)
         $<INSTALL_INTERFACE:include>
         ${ONNXRuntime_INCLUDE_DIRS}
         ${EIGEN3_INCLUDE_DIR}
-    
     )
     if(YAML_CPP_FOUND)
         target_include_directories(${PROJECT_NAME}_core PUBLIC ${yaml-cpp_INCLUDE_DIRS})
@@ -213,7 +209,7 @@ if(BUILD_TESTS)
 endif()
 
 # ── Install ──────────────────────────────────────────────────────
-if(NOT WIN32 AND TARGET ${PROJECT_NAME}_core)
+if(BUILD_ROS_WRAPPER AND TARGET ${PROJECT_NAME}_core)
     install(TARGETS ${PROJECT_NAME}_core
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/src/drone-software/src/acoustic/README.md b/src/drone-software/src/acoustic/README.md
index 514eb7a..d3fc39e 100644
--- a/src/drone-software/src/acoustic/README.md
+++ b/src/drone-software/src/acoustic/README.md
@@ -122,6 +122,10 @@ roslaunch acoustic_analyzer acoustic_node.launch
 - Windows 下完整流水线（Pipeline 类）需要 yaml-cpp，离线 demo 已绕过此依赖。
 - 距离估计依赖 SPL 校准，合成音频的归一化幅度会导致距离值偏大。
 
+## 更新日志
+
+详见 [CHANGELOG.md](CHANGELOG.md)。
+
 ## 许可证
 
 与父项目保持一致。
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