{"id":377,"date":"2026-06-10T22:27:18","date_gmt":"2026-06-10T14:27:18","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/antenna-tracker-lora-pan-tilt-uav-farsi\/"},"modified":"2026-06-10T22:27:19","modified_gmt":"2026-06-10T14:27:19","slug":"antenna-tracker-lora-pan-tilt-uav-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/antenna-tracker-lora-pan-tilt-uav-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0633\u06cc\u0633\u062a\u0645 \u0631\u062f\u06cc\u0627\u0628\u06cc \u067e\u0647\u067e\u0627\u062f \u0628\u0627 \u0622\u0646\u062a\u0646 Tracker \u062e\u0648\u062f\u06a9\u0627\u0631: Pan-Tilt \u0622\u0646\u062a\u0646 LoRa (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nAntenna Tracker \u062e\u0648\u062f\u06a9\u0627\u0631 \u0628\u0631\u0627\u06cc UAV\n<\/div>\n
\n

Antenna Tracker \u0686\u06cc\u0633\u062a\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0648\u0642\u062a\u06cc \u067e\u0647\u067e\u0627\u062f FPV \u0628\u0647 \u0641\u0627\u0635\u0644\u0647 \u06f2+ \u06a9\u06cc\u0644\u0648\u0645\u062a\u0631 \u0645\u06cc\u200c\u0631\u0648\u062f\u060c \u0622\u0646\u062a\u0646 \u062c\u0647\u062a\u200c\u062f\u0627\u0631 (\u0645\u062b\u0644 Patch \u06cc\u0627 Helical) \u0628\u0631\u062f \u0628\u0633\u06cc\u0627\u0631 \u0628\u0647\u062a\u0631\u06cc \u0627\u0632 \u0622\u0646\u062a\u0646 Omni \u0645\u06cc\u200c\u062f\u0647\u062f \u2014 \u0627\u0645\u0627 \u0628\u0627\u06cc\u062f \u0647\u0645\u06cc\u0634\u0647 \u0628\u0647 \u0633\u0645\u062a \u067e\u0647\u067e\u0627\u062f \u0628\u0627\u0634\u062f. Antenna Tracker<\/strong> \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 Pan-Tilt \u0645\u06a9\u0627\u0646\u06cc\u06a9\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u0635\u0648\u0631\u062a \u062e\u0648\u062f\u06a9\u0627\u0631 \u0622\u0646\u062a\u0646 \u0631\u0627 \u0628\u0647 \u0633\u0645\u062a \u067e\u0647\u067e\u0627\u062f \u0645\u06cc\u200c\u0686\u0631\u062e\u0627\u0646\u062f \u2014 \u0628\u0631 \u0627\u0633\u0627\u0633 \u0645\u0648\u0642\u0639\u06cc\u062a GPS \u067e\u0647\u067e\u0627\u062f \u06a9\u0647 \u0627\u0632 \u0637\u0631\u06cc\u0642 Telemetry LoRa \u062f\u0631\u06cc\u0627\u0641\u062a \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

\u0633\u06cc\u0633\u062a\u0645 \u0627\u0632 \u062f\u0648 \u0628\u062e\u0634 \u062a\u0634\u06a9\u06cc\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f: \u06cc\u06a9 \u06af\u06cc\u0631\u0646\u062f\u0647 GPS \u0631\u0648\u06cc \u067e\u0647\u067e\u0627\u062f<\/strong> \u06a9\u0647 \u0645\u0648\u0642\u0639\u06cc\u062a \u0631\u0627 \u0627\u0632 \u0637\u0631\u06cc\u0642 LoRa \u0628\u0647 \u0632\u0645\u06cc\u0646 \u0645\u06cc\u200c\u0641\u0631\u0633\u062a\u062f\u060c \u0648 \u06cc\u06a9 \u0645\u06a9\u0627\u0646\u06cc\u0632\u0645 Pan-Tilt \u0628\u0627 \u062f\u0648 \u0633\u0631\u0648\u0648\u0645\u0648\u062a\u0648\u0631<\/strong> \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u06a9\u0647 Arduino \u0645\u0648\u0642\u0639\u06cc\u062a \u0622\u0646\u062a\u0646 \u0631\u0627 \u0645\u062d\u0627\u0633\u0628\u0647 \u0648 \u0633\u0631\u0648\u0647\u0627 \u0631\u0627 \u0647\u062f\u0627\u06cc\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n<\/div>\n

\n

\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 Antenna Tracker \u062f\u0648 \u0645\u062d\u0648\u0631\u0647<\/strong> \u06a9\u0647 \u0622\u0646\u062a\u0646 Patch 5.8GHz \u0631\u0627 \u062e\u0648\u062f\u06a9\u0627\u0631 \u0628\u0647 \u0633\u0645\u062a \u067e\u0647\u067e\u0627\u062f \u062a\u0627 \u06f3 \u06a9\u06cc\u0644\u0648\u0645\u062a\u0631 \u0646\u06af\u0647 \u0645\u06cc\u200c\u062f\u0627\u0631\u062f.<\/p>\n

    \n
  • \u0632\u0645\u0627\u0646 \u0633\u0627\u062e\u062a:<\/strong> \u06f5 \u062a\u0627 \u06f7 \u0633\u0627\u0639\u062a<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f1 \u062a\u0627 \u06f2 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n<\/ul>\n<\/div>\n

    \n\n\u067e\u0647\u067e\u0627\u062f UAV<\/text>\nGPS + LoRa TX<\/text>\n\nTracker \u0632\u0645\u06cc\u0646\u06cc<\/text>\nArduino + LoRa RX<\/text>\n\u0633\u0631\u0648 Pan + \u0633\u0631\u0648 Tilt<\/text>\n\nLoRa GPS<\/text>\n\n\u0622\u0646\u062a\u0646 Patch<\/text>\n5.8GHz \u062c\u0647\u062a\u200c\u062f\u0627\u0631<\/text>\n\nArduino \u0632\u0627\u0648\u06cc\u0647 Pan\/Tilt \u0631\u0627 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0633\u0631\u0648 \u0622\u0646\u062a\u0646 \u0631\u0627 \u0645\u06cc\u200c\u0686\u0631\u062e\u0627\u0646\u062f<\/text>\n<\/svg><\/p>\n

    \u0642\u0637\u0639\u0627\u062a \u0644\u0627\u0632\u0645 (BOM)<\/h2>\n\n\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u0646\u0642\u0634<\/th>\n<\/tr>\n<\/thead>\n
    Arduino Nano \u00d7 \u06f2<\/td>\n\u06a9\u0646\u062a\u0631\u0644\u0631 \u067e\u0647\u067e\u0627\u062f \u0648 \u0632\u0645\u06cc\u0646<\/td>\n<\/tr>\n
    \u0645\u0627\u0698\u0648\u0644 LoRa Ra-02 \u00d7 \u06f2<\/td>\n\u0627\u0631\u0633\u0627\u0644\/\u062f\u0631\u06cc\u0627\u0641\u062a GPS<\/td>\n<\/tr>\n
    GPS NEO-6M \u00d7 \u06f1 (\u0631\u0648\u06cc \u067e\u0647\u067e\u0627\u062f)<\/td>\n\u0645\u0648\u0642\u0639\u06cc\u062a \u067e\u0647\u067e\u0627\u062f<\/td>\n<\/tr>\n
    GPS NEO-6M \u00d7 \u06f1 (\u0632\u0645\u06cc\u0646)<\/td>\n\u0645\u0648\u0642\u0639\u06cc\u062a Tracker<\/td>\n<\/tr>\n
    \u0633\u0631\u0648\u0648\u0645\u0648\u062a\u0648\u0631 MG996R \u00d7 \u06f2<\/td>\nPan \u0648 Tilt<\/td>\n<\/tr>\n
    \u0622\u0646\u062a\u0646 Patch 5.8GHz<\/td>\n\u062f\u0631\u06cc\u0627\u0641\u062a \u0648\u06cc\u062f\u0626\u0648 FPV<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u06a9\u062f Arduino Tracker (\u0632\u0645\u06cc\u0646)<\/h2>\n
    \n#include <SPI.h>\n#include <LoRa.h>\n#include <Servo.h>\n#include <TinyGPS++.h>\n#include <SoftwareSerial.h>\n\nServo panServo, tiltServo;\nTinyGPSPlus gpsHome;\nSoftwareSerial gpsSerial(4, 5);\n\ndouble homeLat, homeLon;\n\ndouble calcBearing(double lat1, double lon1, double lat2, double lon2) {\n  double dLon = radians(lon2 - lon1);\n  double x = sin(dLon) * cos(radians(lat2));\n  double y = cos(radians(lat1)) * sin(radians(lat2)) -\n             sin(radians(lat1)) * cos(radians(lat2)) * cos(dLon);\n  double bearing = degrees(atan2(x, y));\n  return fmod(bearing + 360.0, 360.0);\n}\n\nvoid setup() {\n  panServo.attach(9);\n  tiltServo.attach(10);\n  gpsSerial.begin(9600);\n  LoRa.begin(433E6);\n  Serial.begin(115200);\n}\n\nvoid loop() {\n  \/\/ \u062e\u0648\u0627\u0646\u062f\u0646 GPS \u0632\u0645\u06cc\u0646\n  while (gpsSerial.available()) gpsHome.encode(gpsSerial.read());\n  if (gpsHome.location.isValid()) {\n    homeLat = gpsHome.location.lat();\n    homeLon = gpsHome.location.lng();\n  }\n\n  \/\/ \u062f\u0631\u06cc\u0627\u0641\u062a GPS \u067e\u0647\u067e\u0627\u062f \u0627\u0632 LoRa\n  int pktSize = LoRa.parsePacket();\n  if (pktSize && homeLat != 0) {\n    String data = \"\";\n    while (LoRa.available()) data += (char)LoRa.read();\n    \/\/ \u0641\u0631\u0645\u062a: \"lat,lon,alt\"\n    int c1 = data.indexOf(','), c2 = data.lastIndexOf(',');\n    double uavLat = data.substring(0, c1).toDouble();\n    double uavLon = data.substring(c1+1, c2).toDouble();\n\n    double bearing = calcBearing(homeLat, homeLon, uavLat, uavLon);\n    int panAngle = (int)bearing;          \/\/ 0-360\n    panServo.write(panAngle > 180 ? 180 : panAngle);\n    tiltServo.write(15);                   \/\/ \u062a\u06cc\u0644\u062a \u062b\u0627\u0628\u062a \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646 \u0646\u0633\u062e\u0647 \u0633\u0627\u062f\u0647\n    Serial.print(\"Pan: \"); Serial.println(panAngle);\n  }\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    GPS \u0632\u0645\u06cc\u0646 Fix \u06af\u0631\u0641\u062a\u0647\u061f<\/td>\n\u0628\u0644\u0647 \u2014 LED \u0686\u0634\u0645\u06a9\u200c\u0632\u0646<\/td>\n<\/tr>\n
    LoRa GPS \u067e\u0647\u067e\u0627\u062f \u0631\u0627 \u062f\u0631\u06cc\u0627\u0641\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u0628\u0644\u0647 \u2014 Serial Monitor<\/td>\n<\/tr>\n
    \u0633\u0631\u0648 Pan \u0628\u0627 \u062d\u0631\u06a9\u062a \u0634\u0645\u0627 \u0645\u06cc\u200c\u0686\u0631\u062e\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nGPS \u067e\u0647\u067e\u0627\u062f<\/text>\n+ LoRa TX<\/text>\nArduino \u0632\u0645\u06cc\u0646<\/text>\n\u0645\u062d\u0627\u0633\u0628\u0647 Bearing<\/text>\n\u0633\u0631\u0648 Pan\/Tilt<\/text>\n\u0686\u0631\u062e\u0634 \u0622\u0646\u062a\u0646<\/text>\n\u0622\u0646\u062a\u0646 Patch<\/text>\n\u0647\u0645\u06cc\u0634\u0647 \u0628\u0647 \u0633\u0645\u062a UAV<\/text>\nAntenna Tracker \u2014 \u0628\u0631\u062f FPV \u06f3x \u0628\u06cc\u0634\u062a\u0631 \u0628\u0627 \u0622\u0646\u062a\u0646 \u062c\u0647\u062a\u200c\u062f\u0627\u0631<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n