diff --git a/modules/catkin_ws/src/car/CMakeLists.txt b/modules/catkin_ws/src/car/CMakeLists.txt
index 7c1099083c8d23b6cccc96694395a105571373b7..7cbb63f0356fb975cad43bc12aa17d93307ccaf7 100644
--- a/modules/catkin_ws/src/car/CMakeLists.txt
+++ b/modules/catkin_ws/src/car/CMakeLists.txt
@@ -59,6 +59,7 @@ set(MAIN_NODE_SOURCE_FILES
 )
 
 set(USS_SOURCE_FILES
+        src/ultrasonic/StreamMedianFilter.cpp
         src/ultrasonic/Ultrasonic.cpp
         src/ultrasonic/USS_SRF02.cpp
 )
diff --git a/modules/catkin_ws/src/car/include/environment/StreamMedianFilter.h b/modules/catkin_ws/src/car/include/ultrasonic/StreamMedianFilter.h
similarity index 100%
rename from modules/catkin_ws/src/car/include/environment/StreamMedianFilter.h
rename to modules/catkin_ws/src/car/include/ultrasonic/StreamMedianFilter.h
diff --git a/modules/catkin_ws/src/car/src/environment/StreamMedianFilter.cpp b/modules/catkin_ws/src/car/src/ultrasonic/StreamMedianFilter.cpp
similarity index 98%
rename from modules/catkin_ws/src/car/src/environment/StreamMedianFilter.cpp
rename to modules/catkin_ws/src/car/src/ultrasonic/StreamMedianFilter.cpp
index 9657d4e1b5ea1787ac31e08eb1f44c1f0a459467..f9771d58cedd5cbd511fca113ee10807cb85dd1f 100644
--- a/modules/catkin_ws/src/car/src/environment/StreamMedianFilter.cpp
+++ b/modules/catkin_ws/src/car/src/ultrasonic/StreamMedianFilter.cpp
@@ -1,4 +1,4 @@
-#include "StreamMedianFilter.h"
+#include "ultrasonic/StreamMedianFilter.h"
 #include <iostream>
 #include <numeric>