diff --git a/plugin/gb28181/dialog.go b/plugin/gb28181/dialog.go
index a4276b9..65d5a2d 100644
--- a/plugin/gb28181/dialog.go
+++ b/plugin/gb28181/dialog.go
@@ -104,17 +104,33 @@ func (d *Dialog) Start() (err error) {
 	}
 
 	//defer d.gb.dialogs.Remove(d)
-	if d.gb.tcpPort > 0 {
-		d.MediaPort = d.gb.tcpPort
-	} else {
-		if d.gb.MediaPort.Valid() {
-			select {
-			case d.MediaPort = <-d.gb.tcpPorts:
-			default:
-				return fmt.Errorf("no available tcp port")
-			}
+	if d.StreamMode == "TCP-PASSIVE" {
+		if d.gb.tcpPort > 0 {
+			d.MediaPort = d.gb.tcpPort
 		} else {
-			d.MediaPort = d.gb.MediaPort[0]
+			if d.gb.MediaPort.Valid() {
+				select {
+				case d.MediaPort = <-d.gb.tcpPorts:
+				default:
+					return fmt.Errorf("no available tcp port")
+				}
+			} else {
+				d.MediaPort = d.gb.MediaPort[0]
+			}
+		}
+	} else if d.StreamMode == "UDP" {
+		if d.gb.udpPort > 0 {
+			d.MediaPort = d.gb.udpPort
+		} else {
+			if d.gb.MediaPort.Valid() {
+				select {
+				case d.MediaPort = <-d.gb.udpPorts:
+				default:
+					return fmt.Errorf("no available udp port")
+				}
+			} else {
+				d.MediaPort = d.gb.MediaPort[0]
+			}
 		}
 	}
 
@@ -179,7 +195,9 @@ func (d *Dialog) Start() (err error) {
 			"a=connection:new",
 		)
 	case "UDP":
+		/* 支持udp收流 yjx
 		return errors.New("do not support udp mode")
+		*/
 	default:
 		sdpInfo = append(sdpInfo,
 			"a=setup:passive",
@@ -310,9 +328,9 @@ func (d *Dialog) Run() (err error) {
 	pub := gb28181.NewPSPublisher(d.pullCtx.Publisher)
 	if d.StreamMode == "TCP-ACTIVE" {
 		pub.Receiver.ListenAddr = fmt.Sprintf("%s:%d", d.targetIP, d.targetPort)
-	} else {
+	} else if d.StreamMode == "TCP-PASSIVE" {
 		if d.gb.tcpPort > 0 {
-			d.Info("into single port mode,use gb.tcpPort", d.gb.tcpPort)
+			d.Info("into single port mode, use gb.tcpPort", d.gb.tcpPort)
 			if d.gb.netListener != nil {
 				d.Info("use gb.netListener", d.gb.netListener.Addr())
 				pub.Receiver.Listener = d.gb.netListener
@@ -324,14 +342,44 @@ func (d *Dialog) Run() (err error) {
 			pub.Receiver.SSRC = d.SSRC
 		}
 		pub.Receiver.ListenAddr = fmt.Sprintf(":%d", d.MediaPort)
+	} else if d.StreamMode == "UDP" {
+		pub.Receiver.IsSinglePort = false
+		if d.gb.udpPort > 0 {
+			d.Info("into single port mode, use gb.udpPort", d.gb.udpPort)
+			if d.gb.netUDPListener != nil {
+				d.Info("use gb.netUDPListener", d.gb.netUDPListener.LocalAddr())
+				pub.Receiver.ListenerUdp = d.gb.netUDPListener
+			} else {
+				d.Info("listen udp4", fmt.Sprintf(":%d", d.gb.udpPort))
+				pub.Receiver.ListenerUdp, err = util.ListenUDP(fmt.Sprintf(":%d", d.gb.udpPort), 1024*1024*4)
+				if err != nil {
+					d.Error("listen udp4", fmt.Sprintf(":%d", d.gb.udpPort), "err", err)
+					return errors.New("start udp listen, err" + err.Error())
+				}
+
+				d.gb.netUDPListener = pub.Receiver.ListenerUdp
+			}
+
+			pub.Receiver.IsSinglePort = true
+
+		}
+		pub.Receiver.SSRC = d.SSRC
+		pub.Receiver.ListenAddr = fmt.Sprintf(":%d", d.MediaPort)
+		pub.Receiver.UdpCacheSize = 10
 	}
+
 	pub.Receiver.StreamMode = d.StreamMode
 	d.AddTask(&pub.Receiver)
 	startResult := pub.Receiver.WaitStarted()
 	if startResult != nil {
 		return fmt.Errorf("pub.Receiver.WaitStarted %s", startResult)
 	}
+
+	d.gb.udpPubs.Set(pub)
+
 	pub.Demux()
+
+	d.gb.udpPubs.Remove(pub)
 	return
 }
 
@@ -340,9 +388,17 @@ func (d *Dialog) GetKey() string {
 }
 
 func (d *Dialog) Dispose() {
-	if d.gb.tcpPort == 0 {
-		// 如果没有设置tcp端口，则将MediaPort设置为0，表示不再使用
-		d.gb.tcpPorts <- d.MediaPort
+
+	if d.StreamMode == "UDP" {
+		if d.gb.udpPort == 0 {
+			// 如果没有设置udp端口，则将MediaPort设置为0，表示不再使用
+			d.gb.udpPorts <- d.MediaPort
+		}
+	} else {
+		if d.gb.tcpPort == 0 {
+			// 如果没有设置tcp端口，则将MediaPort设置为0，表示不再使用
+			d.gb.tcpPorts <- d.MediaPort
+		}
 	}
 	d.Info("dialog dispose", "ssrc", d.SSRC, "mediaPort", d.MediaPort, "streamMode", d.StreamMode, "deviceId", d.Channel.DeviceId, "channelId", d.Channel.ChannelId)
 	if d.session != nil {
diff --git a/plugin/gb28181/index.go b/plugin/gb28181/index.go
index d8afeef..a8e2606 100644
--- a/plugin/gb28181/index.go
+++ b/plugin/gb28181/index.go
@@ -17,6 +17,7 @@ import (
 
 	"github.com/emiago/sipgo"
 	"github.com/emiago/sipgo/sip"
+	"github.com/pion/rtp"
 	"github.com/rs/zerolog"
 	m7s "m7s.live/v5"
 	"m7s.live/v5/pkg/config"
@@ -64,6 +65,10 @@ type GB28181Plugin struct {
 	Platforms             []*gb28181.PlatformModel
 	channels              util.Collection[string, *Channel]
 	netListener           net.Listener
+	udpPorts              chan uint16
+	udpPort               uint16
+	netUDPListener        *net.UDPConn
+	udpPubs               task.Manager[uint32, *gb28181.PSPublisher]
 }
 
 var _ = m7s.InstallPlugin[GB28181Plugin](m7s.PluginMeta{
@@ -177,15 +182,42 @@ func (gb *GB28181Plugin) OnInit() (err error) {
 		if gb.MediaPort.Valid() {
 			gb.SetDescription("tcp", fmt.Sprintf("%d-%d", gb.MediaPort[0], gb.MediaPort[1]))
 			gb.tcpPorts = make(chan uint16, gb.MediaPort.Size())
+			gb.udpPorts = make(chan uint16, gb.MediaPort.Size())
 			if gb.MediaPort.Size() == 0 {
 				gb.tcpPort = gb.MediaPort[0]
 				gb.netListener, _ = net.Listen("tcp4", fmt.Sprintf(":%d", gb.tcpPort))
+
+				//support udp
+				{
+					gb.udpPort = gb.MediaPort[0]
+					gb.netUDPListener, err = util.ListenUDP(fmt.Sprintf(":%d", gb.udpPort), 1024*1024*4)
+
+					if err != nil {
+						gb.Error("start listen", "err", err)
+						return errors.New("start udp listen, err" + err.Error())
+					}
+					go gb.ReadUdpInsinglePort()
+				}
 			} else if gb.MediaPort.Size() == 1 {
 				gb.tcpPort = gb.MediaPort[0] + 1
 				gb.netListener, _ = net.Listen("tcp4", fmt.Sprintf(":%d", gb.tcpPort))
+
+				//support udp
+				{
+					gb.udpPort = gb.MediaPort[0] + 1
+					gb.netUDPListener, err = util.ListenUDP(fmt.Sprintf(":%d", gb.udpPort), 1024*1024*4)
+
+					if err != nil {
+						gb.Error("start listen", "err", err)
+						return errors.New("start udp listen, err" + err.Error())
+					}
+
+					go gb.ReadUdpInsinglePort()
+				}
 			} else {
 				for i := range gb.MediaPort.Size() {
 					gb.tcpPorts <- gb.MediaPort[0] + i
+					gb.udpPorts <- gb.MediaPort[0] + i
 				}
 			}
 		} else {
@@ -1049,3 +1081,24 @@ func (gb *GB28181Plugin) OnAck(req *sip.Request, tx sip.ServerTransaction) {
 		return
 	}
 }
+
+func (gb *GB28181Plugin) ReadUdpInsinglePort() (err error) {
+	buffer := make(util.Buffer, 1024*1024)
+	var rtpPacket rtp.Packet
+	for {
+		n, _, err := gb.netUDPListener.ReadFromUDP(buffer)
+		if err != nil {
+			return err
+		}
+
+		ps := buffer[:n]
+		if err := rtpPacket.Unmarshal(ps); err != nil {
+			continue
+		}
+
+		pub, ret := gb.udpPubs.Get(rtpPacket.SSRC)
+		if ret {
+			pub.Receiver.ReadUdpRTP(buffer[:n])
+		}
+	}
+}
diff --git a/plugin/gb28181/pkg/transceiver.go b/plugin/gb28181/pkg/transceiver.go
index b95320e..4d41a92 100644
--- a/plugin/gb28181/pkg/transceiver.go
+++ b/plugin/gb28181/pkg/transceiver.go
@@ -12,6 +12,7 @@ import (
 	"m7s.live/v5/pkg"
 	"m7s.live/v5/pkg/task"
 	"m7s.live/v5/pkg/util"
+	"m7s.live/v5/plugin/gb28181/udputils"
 	rtp2 "m7s.live/v5/plugin/rtp/pkg"
 )
 
@@ -36,17 +37,24 @@ var ErrRTPReceiveLost = errors.New("rtp receive lost")
 type Receiver struct {
 	task.Task
 	rtp.Packet
-	FeedChan   chan []byte
-	psm        util.Memory
-	dump       *os.File
-	dumpLen    []byte
-	psVideo    PSVideo
-	psAudio    PSAudio
-	RTPReader  *rtp2.TCP
-	ListenAddr string
-	Listener   net.Listener
-	StreamMode string // 数据流传输模式（UDP:udp传输/TCP-ACTIVE：tcp主动模式/TCP-PASSIVE：tcp被动模式）
-	SSRC       uint32 // RTP SSRC
+	FeedChan     chan []byte
+	psm          util.Memory
+	dump         *os.File
+	dumpLen      []byte
+	psVideo      PSVideo
+	psAudio      PSAudio
+	RTPReader    *rtp2.TCP
+	ListenAddr   string
+	Listener     net.Listener
+	StreamMode   string // 数据流传输模式（UDP:udp传输/TCP-ACTIVE：tcp主动模式/TCP-PASSIVE：tcp被动模式）
+	SSRC         uint32 // RTP SSRC
+	ListenerUdp  *net.UDPConn
+	RTPReaderUdp *rtp2.UDP
+	IsSinglePort bool
+	SingleStop   chan struct{}
+	udpCache     *udputils.PriorityQueueRtp
+	UdpCacheSize int
+	lastSeq      uint16
 }
 
 func NewPSPublisher(puber *m7s.Publisher) *PSPublisher {
@@ -142,6 +150,10 @@ func (dec *PSPublisher) decProgramStreamMap() (err error) {
 	return nil
 }
 
+func (p *PSPublisher) GetKey() uint32 {
+	return p.Receiver.SSRC
+}
+
 func (p *Receiver) ReadRTP(rtp util.Buffer) (err error) {
 	lastSeq := p.SequenceNumber
 	if err = p.Unmarshal(rtp); err != nil {
@@ -172,8 +184,63 @@ func (p *Receiver) ReadRTP(rtp util.Buffer) (err error) {
 			return task.ErrTaskComplete
 		}
 		return
+	} else {
+		p.Error("rtp seq mismatch,", "lastSeq", lastSeq, "seq", p.SequenceNumber)
+		return ErrRTPReceiveLost
 	}
-	return ErrRTPReceiveLost
+
+}
+
+func (p *Receiver) ReadUdpRTP(rtp util.Buffer) (err error) {
+	//解析rtp
+	if err = p.Unmarshal(rtp); err != nil {
+		p.Error("unmarshal error", "err", err)
+		return nil
+	}
+	//判断ssrc
+	if p.SSRC != 0 && p.SSRC != p.Packet.SSRC {
+		p.Info("ReadUdpRTP, ssrc mismatch", "expected", p.SSRC, "actual", p.Packet.SSRC)
+		if p.TraceEnabled() {
+			p.Trace("rtp ssrc mismatch, skip", "expected", p.SSRC, "actual", p.Packet.SSRC)
+		}
+		return nil
+	}
+
+	if p.UdpCacheSize > 0 && p.udpCache == nil {
+		p.udpCache = udputils.NewPqRtp()
+	}
+	//p.Info("ReadUdpRTP, seq", "rtpSeq", p.SequenceNumber)
+	//加入缓存，自动排序
+	rtpTmpCache := p.Packet
+	rtpTmpCache.Payload = make([]byte, len(p.Payload))
+	copy(rtpTmpCache.Payload, p.Payload)
+	p.udpCache.Push(rtpTmpCache)
+
+	rtpTmp := p.Packet
+	if p.udpCache.Len() < p.UdpCacheSize-1 {
+		return nil
+	} else {
+		rtpTmp, _ = p.udpCache.Pop()
+	}
+
+	//p.Info("ReadUdpRTP, seq", "rtpTmpSeq", rtpTmp.SequenceNumber)
+
+	p.lastSeq = rtpTmp.SequenceNumber
+
+	if p.TraceEnabled() {
+		p.Trace("rtp", "len", rtp.Len(), "seq", p.SequenceNumber, "payloadType", p.PayloadType, "ssrc", p.Packet.SSRC)
+	}
+
+	copyData := make([]byte, len(rtpTmp.Payload))
+	copy(copyData, rtpTmp.Payload)
+	select {
+	case p.FeedChan <- copyData:
+		// 成功发送数据
+	case <-p.Done():
+		// 任务已停止，返回错误
+		return task.ErrTaskComplete
+	}
+	return nil
 }
 
 func (p *Receiver) Start() (err error) {
@@ -181,17 +248,28 @@ func (p *Receiver) Start() (err error) {
 		// TCP主动模式不需要监听，直接返回
 		p.Info("TCP-ACTIVE mode, no need to listen")
 		return nil
-	}
-	// TCP被动模式
-	if p.Listener == nil {
-		p.Info("start new listener", "addr", p.ListenAddr)
-		p.Listener, err = net.Listen("tcp4", p.ListenAddr)
-		if err != nil {
-			p.Error("start listen", "err", err)
-			return errors.New("start listen,err" + err.Error())
+	} else if strings.ToUpper(p.StreamMode) == "TCP-PASSIVE" {
+		// TCP被动模式
+		if p.Listener == nil {
+			p.Info("start new listener", "addr", p.ListenAddr)
+			p.Listener, err = net.Listen("tcp4", p.ListenAddr)
+			if err != nil {
+				p.Error("start listen", "err", err)
+				return errors.New("start listen,err" + err.Error())
+			}
+		}
+		p.Info("start listen", "addr", p.ListenAddr)
+	} else {
+		if p.ListenerUdp == nil {
+			p.Info("start new listener", "addr", p.ListenAddr)
+
+			p.ListenerUdp, err = util.ListenUDP(p.ListenAddr, 1024*1024*10)
+			if err != nil {
+				p.Error("start listen", "err", err)
+				return errors.New("start listen,err" + err.Error())
+			}
 		}
 	}
-	p.Info("start listen", "addr", p.ListenAddr)
 	return
 }
 
@@ -205,6 +283,13 @@ func (p *Receiver) Dispose() {
 	if p.RTPReader != nil {
 		p.RTPReader.Close()
 	}
+	if p.ListenerUdp != nil && !p.IsSinglePort {
+		p.ListenerUdp.Close()
+	}
+	if p.IsSinglePort {
+		close(p.SingleStop)
+	}
+
 	if p.FeedChan != nil {
 		close(p.FeedChan)
 	}
@@ -230,15 +315,27 @@ func (p *Receiver) Go() error {
 		p.RTPReader = (*rtp2.TCP)(conn.(*net.TCPConn))
 		p.Info("connected to device", "addr", conn.RemoteAddr())
 		return p.RTPReader.Read(p.ReadRTP)
+	} else if strings.ToUpper(p.StreamMode) == "TCP-PASSIVE" { // TCP被动模式
+		p.Info("start accept")
+		conn, err := p.Listener.Accept()
+		if err != nil {
+			p.Error("accept", "err", err)
+			return err
+		}
+		p.RTPReader = (*rtp2.TCP)(conn.(*net.TCPConn))
+		p.Info("accept", "addr", conn.RemoteAddr())
+		return p.RTPReader.Read(p.ReadRTP)
+	} else { //UDP模式
+		if p.IsSinglePort {
+			p.SingleStop = make(chan struct{})
+			<-p.SingleStop
+			p.Info("stop udp accept", "ssrc", p.SSRC)
+			return nil
+
+		} else {
+			p.Info("start udp accept")
+			p.RTPReaderUdp = (*rtp2.UDP)(p.ListenerUdp)
+			return p.RTPReaderUdp.Read(p.ReadUdpRTP)
+		}
 	}
-	// TCP被动模式
-	p.Info("start accept")
-	conn, err := p.Listener.Accept()
-	if err != nil {
-		p.Error("accept", "err", err)
-		return err
-	}
-	p.RTPReader = (*rtp2.TCP)(conn.(*net.TCPConn))
-	p.Info("accept", "addr", conn.RemoteAddr())
-	return p.RTPReader.Read(p.ReadRTP)
 }
diff --git a/plugin/gb28181/udputils/rtp_sort.go b/plugin/gb28181/udputils/rtp_sort.go
new file mode 100644
index 0000000..7b90872
--- /dev/null
+++ b/plugin/gb28181/udputils/rtp_sort.go
@@ -0,0 +1,98 @@
+package udputils
+
+import (
+	"container/heap"
+	"errors"
+
+	"github.com/pion/rtp"
+)
+
+const MaxRtpDiff = 65000 //相邻两个包之间的最大差值
+
+type PriorityQueueRtp struct {
+	itemHeap    *packets
+	current     *rtp.Packet
+	priorityMap map[uint16]bool
+	lastPacket  *rtp.Packet
+}
+
+func NewPqRtp() *PriorityQueueRtp {
+	return &PriorityQueueRtp{
+		itemHeap:    &packets{},
+		priorityMap: make(map[uint16]bool),
+	}
+}
+
+func (p *PriorityQueueRtp) Len() int {
+	return p.itemHeap.Len()
+}
+
+func (p *PriorityQueueRtp) Push(v rtp.Packet) {
+	if p.priorityMap[v.SequenceNumber] {
+		return
+	}
+	newItem := &packet{
+		value:    v,
+		priority: v.SequenceNumber,
+	}
+	heap.Push(p.itemHeap, newItem)
+}
+
+func (p *PriorityQueueRtp) Pop() (rtp.Packet, error) {
+	if len(*p.itemHeap) == 0 {
+		return rtp.Packet{}, errors.New("empty queue")
+	}
+
+	item := heap.Pop(p.itemHeap).(*packet)
+	return item.value, nil
+}
+
+func (p *PriorityQueueRtp) Empty() {
+	old := *p.itemHeap
+	*p.itemHeap = old[:0]
+}
+
+type packets []*packet
+
+type packet struct {
+	value    rtp.Packet
+	priority uint16
+	index    int
+}
+
+func (p *packets) Len() int {
+	return len(*p)
+}
+
+func (p *packets) Less(i, j int) bool {
+	a, b := (*p)[i].priority, (*p)[j].priority
+	if int(a)-int(b) > MaxRtpDiff || int(b)-int(a) > MaxRtpDiff {
+		if a < b {
+			return false
+		}
+		return true
+	}
+	return a < b
+}
+
+func (p *packets) Swap(i, j int) {
+	(*p)[i], (*p)[j] = (*p)[j], (*p)[i]
+	(*p)[i].index = i
+	(*p)[j].index = j
+}
+
+func (p *packets) Push(x interface{}) {
+	it := x.(*packet)
+	it.index = len(*p)
+	*p = append(*p, it)
+}
+
+func (p *packets) Pop() interface{} {
+	old := *p
+	n := len(old)
+	item := old[n-1]
+	old[n-1] = nil  // avoid memory leak
+	item.index = -1 // for safety
+	*p = old[0 : n-1]
+	return item
+}
diff --git a/plugin/rtp/pkg/udp.go b/plugin/rtp/pkg/udp.go
new file mode 100644
index 0000000..217b020
--- /dev/null
+++ b/plugin/rtp/pkg/udp.go
@@ -0,0 +1,25 @@
+package rtp
+
+import (
+	"net"
+
+	"m7s.live/v5/pkg/util"
+)
+
+type UDP net.UDPConn
+
+func (t *UDP) Read(onRTP func(util.Buffer) error) (err error) {
+	buffer := make(util.Buffer, 1024*1024)
+
+	for {
+		n, _, err := (*net.UDPConn)(t).ReadFromUDP(buffer)
+		if err != nil {
+			return err
+		}
+
+		err = onRTP(buffer[:n])
+		if err != nil {
+			//return err
+		}
+	}
+}