{"id":401,"date":"2026-06-10T22:30:34","date_gmt":"2026-06-10T14:30:34","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/uav-mapping-drone-photogrammetry-ardupilot-farsi\/"},"modified":"2026-06-10T22:30:36","modified_gmt":"2026-06-10T14:30:36","slug":"uav-mapping-drone-photogrammetry-ardupilot-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/uav-mapping-drone-photogrammetry-ardupilot-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u067e\u0647\u067e\u0627\u062f \u062f\u0648\u0631\u0628\u06cc\u0646 \u0645\u067e\u06cc\u0646\u06af: \u0641\u062a\u0648\u06af\u0631\u0627\u0645\u062a\u0631\u06cc \u0647\u0648\u0627\u06cc\u06cc \u0628\u0627 ArduPilot \u0648 DJI Gimbal (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u067e\u0647\u067e\u0627\u062f \u0645\u067e\u06cc\u0646\u06af \u0646\u0642\u0634\u0647\u200c\u0628\u0631\u062f\u0627\u0631\u06cc \u0647\u0648\u0627\u06cc\u06cc ArduPilot\n<\/div>\n
\n

\u067e\u0647\u067e\u0627\u062f \u0645\u067e\u06cc\u0646\u06af \u0648 \u0641\u062a\u0648\u06af\u0631\u0627\u0645\u062a\u0631\u06cc \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0645\u067e\u06cc\u0646\u06af \u0647\u0648\u0627\u06cc\u06cc<\/strong> \u06cc\u0639\u0646\u06cc \u0639\u06a9\u0633\u200c\u0628\u0631\u062f\u0627\u0631\u06cc \u0633\u06cc\u0633\u062a\u0645\u0627\u062a\u06cc\u06a9 \u0627\u0632 \u06cc\u06a9 \u0645\u0646\u0637\u0642\u0647 \u0628\u0627 \u067e\u0647\u067e\u0627\u062f \u0648 \u062a\u0631\u06a9\u06cc\u0628 \u0639\u06a9\u0633\u200c\u0647\u0627 \u0628\u0631\u0627\u06cc \u0633\u0627\u062e\u062a \u0646\u0642\u0634\u0647 \u062f\u0642\u06cc\u0642 \u06cc\u0627 \u0645\u062f\u0644 \u06f3D \u0627\u0632 \u0632\u0645\u06cc\u0646. \u0627\u06cc\u0646 \u0641\u0646\u0627\u0648\u0631\u06cc \u062f\u0631 \u06a9\u0634\u0627\u0648\u0631\u0632\u06cc \u062f\u0642\u06cc\u0642\u060c \u0633\u0627\u062e\u062a\u200c\u0648\u0633\u0627\u0632\u060c \u0645\u0639\u062f\u0646\u060c \u0648 \u067e\u0698\u0648\u0647\u0634\u200c\u0647\u0627\u06cc \u0645\u062d\u06cc\u0637\u200c\u0632\u06cc\u0633\u062a\u06cc \u06a9\u0627\u0631\u0628\u0631\u062f \u062f\u0627\u0631\u062f.<\/p>\n

\u0641\u062a\u0648\u06af\u0631\u0627\u0645\u062a\u0631\u06cc<\/strong> (Photogrammetry) \u0639\u0644\u0645 \u0627\u0646\u062f\u0627\u0632\u0647\u200c\u06af\u06cc\u0631\u06cc \u0648 \u0633\u0627\u062e\u062a \u0645\u062f\u0644 \u06f3D \u0627\u0632 \u062a\u0635\u0627\u0648\u06cc\u0631 \u0627\u0633\u062a. \u0646\u0631\u0645\u200c\u0627\u0641\u0632\u0627\u0631\u0647\u0627\u06cc\u06cc \u0645\u062b\u0644 OpenDroneMap<\/strong> (\u0645\u062a\u0646\u200c\u0628\u0627\u0632 \u0648 \u0631\u0627\u06cc\u06af\u0627\u0646) \u06cc\u0627 Agisoft Metashape \u0635\u062f\u0647\u0627 \u0639\u06a9\u0633 \u0628\u0627 \u0645\u0648\u0642\u0639\u06cc\u062a GPS \u0631\u0627 \u067e\u0631\u062f\u0627\u0632\u0634 \u06a9\u0631\u062f\u0647 \u0648 \u06cc\u06a9 \u0646\u0642\u0634\u0647 \u062f\u0642\u06cc\u0642 Orthomosaic \u06cc\u0627 Point Cloud \u06f3D \u0645\u06cc\u200c\u0633\u0627\u0632\u0646\u062f.<\/p>\n

\u0628\u0631\u0627\u06cc \u0645\u067e\u06cc\u0646\u06af \u0627\u0632 ArduPilot Survey Grid Mission<\/strong> \u062f\u0631 Mission Planner \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f \u2014 \u06cc\u06a9 \u0634\u0628\u06a9\u0647 \u0627\u0632 Waypoint \u06a9\u0647 \u067e\u0647\u067e\u0627\u062f \u0631\u0627 \u0628\u0647 \u0635\u0648\u0631\u062a \u0645\u0648\u0627\u0632\u06cc \u0627\u0632 \u06a9\u0644 \u0645\u0646\u0637\u0642\u0647 \u0639\u0628\u0648\u0631 \u0645\u06cc\u200c\u062f\u0647\u062f. \u062f\u0648\u0631\u0628\u06cc\u0646 \u062f\u0631 \u0647\u0631 \u0646\u0642\u0637\u0647 \u0645\u0634\u062e\u0635 \u0634\u0627\u062a\u0631 \u0645\u06cc\u200c\u0632\u0646\u062f (Trigger by Distance).<\/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 \u0633\u06cc\u0633\u062a\u0645 \u067e\u0647\u067e\u0627\u062f \u0645\u067e\u06cc\u0646\u06af \u06a9\u0627\u0645\u0644<\/strong> \u06a9\u0647 \u06f1 \u0647\u06a9\u062a\u0627\u0631 \u0632\u0645\u06cc\u0646 \u0631\u0627 \u062f\u0631 \u06f1\u06f5 \u062f\u0642\u06cc\u0642\u0647 \u0646\u0642\u0634\u0647\u200c\u0628\u0631\u062f\u0627\u0631\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f \u0628\u0627 \u062f\u0642\u062a \u06f5-\u06f1\u06f0 \u0633\u0627\u0646\u062a\u06cc\u200c\u0645\u062a\u0631.<\/p>\n

    \n
  • \u0632\u0645\u0627\u0646 \u0631\u0627\u0647\u200c\u0627\u0646\u062f\u0627\u0632\u06cc:<\/strong> \u06f2 \u062a\u0627 \u06f3 \u0631\u0648\u0632<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f5 \u062a\u0627 \u06f1\u06f5 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u067e\u0648\u0634\u0634:<\/strong> \u06f1-\u06f5 \u0647\u06a9\u062a\u0627\u0631 \u062f\u0631 \u06f1 \u067e\u0631\u0648\u0627\u0632<\/li>\n<\/ul>\n<\/div>\n

    \n\n\u0645\u0646\u0637\u0642\u0647 \u0645\u067e\u06cc\u0646\u06af \u06f1 \u0647\u06a9\u062a\u0627\u0631<\/text>\n\n\n\n\n\n\n\n\n\n\n\n\n\nGrid Survey Mission \u2014 \u067e\u0647\u067e\u0627\u062f \u0645\u0633\u06cc\u0631 \u0645\u0648\u0627\u0632\u06cc \u2014 \u062f\u0648\u0631\u0628\u06cc\u0646 \u0634\u0627\u062a\u0631 \u0645\u06cc\u200c\u0632\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\u0645\u062f\u0644<\/th>\n<\/tr>\n<\/thead>\n
    \u0641\u0631\u06cc\u0645 \u06a9\u0648\u0627\u062f\u06a9\u0648\u067e\u062a\u0631<\/td>\nF450 \u06cc\u0627 X500 \u2014 \u06f4\u06f5\u06f0\/\u06f5\u06f0\u06f0mm<\/td>\n<\/tr>\n
    Flight Controller<\/td>\nPixhawk 2.4.8 + ArduCopter<\/td>\n<\/tr>\n
    GPS RTK (\u062f\u0642\u062a \u0628\u0627\u0644\u0627)<\/td>\nHERE3 \u06cc\u0627 uBlox M8N \u0627\u0642\u062a\u0635\u0627\u062f\u06cc<\/td>\n<\/tr>\n
    \u062f\u0648\u0631\u0628\u06cc\u0646<\/td>\nGoPro Hero 7+ \u06cc\u0627 Sony RX0 II<\/td>\n<\/tr>\n
    Gimbal \u06f1 \u0645\u062d\u0648\u0631 Nadir<\/td>\nTarot TL3T01 \u06cc\u0627 SimpleBGC DIY<\/td>\n<\/tr>\n
    \u0628\u0627\u062a\u0631\u06cc<\/td>\n4S LiPo 5200mAh<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u062a\u0646\u0638\u06cc\u0645 Grid Mission \u062f\u0631 Mission Planner<\/h2>\n
    \n\/\/ \u0645\u0631\u062d\u0644\u0647 \u06f1: \u062f\u0631 Mission Planner \u2192 Flight Plan\n\/\/ \u06a9\u0644\u06cc\u06a9 \u0631\u0627\u0633\u062a \u0631\u0648\u06cc \u0646\u0642\u0634\u0647 \u2192 Auto WP \u2192 Survey (Grid)\n\/\/ \u0645\u0646\u0637\u0642\u0647 \u0645\u0648\u0631\u062f \u0646\u0638\u0631 \u0631\u0627 \u0628\u0627 \u06a9\u0644\u06cc\u06a9 \u0631\u0633\u0645 \u06a9\u0646\u06cc\u062f\n\n\/\/ \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u06a9\u0644\u06cc\u062f\u06cc Survey:\n\/\/ Altitude: 50m (\u0627\u0631\u062a\u0641\u0627\u0639 \u067e\u0631\u0648\u0627\u0632 \u2014 GSD \u2248 1.5cm\/px)\n\/\/ Overlap: 75% (Frontal Overlap)\n\/\/ Sidelap: 70% (Side Overlap)\n\/\/ Camera FOV: \u0628\u0633\u062a\u0647 \u0628\u0647 \u062f\u0648\u0631\u0628\u06cc\u0646 (GoPro \u2248 94\u00b0)\n\/\/ Trigger Dist: \u0641\u0627\u0635\u0644\u0647 trigger \u062f\u0648\u0631\u0628\u06cc\u0646 (Mission Planner \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f)\n\n\/\/ Camera Trigger \u0627\u0632 \u0637\u0631\u06cc\u0642 PWM:\n\/\/ FC \u2192 \u067e\u0648\u0631\u062a AUX \u2192 \u062a\u0631\u06cc\u06af\u0631 \u062f\u0648\u0631\u0628\u06cc\u0646\n\/\/ \u062f\u0631 Mission Planner: DO_DIGICAM_CONTROL \u06cc\u0627 DO_SET_CAM_TRIGG_DIST\n<\/code><\/pre>\n
    \u067e\u0631\u062f\u0627\u0632\u0634 \u0628\u0627 OpenDroneMap<\/h2>\n
    \n\/\/ \u0646\u0635\u0628 WebODM (\u0631\u0627\u0628\u0637 \u06af\u0631\u0627\u0641\u06cc\u06a9\u06cc OpenDroneMap):\n\/\/ docker-compose up -d  \u2192  http:\/\/localhost:8000\n\n\/\/ \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u067e\u0631\u062f\u0627\u0632\u0634 \u0628\u0631\u0627\u06cc \u06f1 \u0647\u06a9\u062a\u0627\u0631:\n\/\/ --feature-quality high\n\/\/ --pc-quality high\n\/\/ --dem-resolution 2  (2cm\/px DEM)\n\/\/ --orthophoto-resolution 2\n\n\/\/ \u062e\u0631\u0648\u062c\u06cc\u200c\u0647\u0627:\n\/\/ orthophoto.tif  \u2014 \u0646\u0642\u0634\u0647 GeoTIFF \u0647\u0648\u0627\u06cc\u06cc\n\/\/ odm_dem\/dtm.tif \u2014 \u0645\u062f\u0644 \u0627\u0631\u062a\u0641\u0627\u0639\u06cc \u0632\u0645\u06cc\u0646\n\/\/ odm_mesh\/odm_textured_model.obj \u2014 \u0645\u062f\u0644 \u06f3D\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u0645\u067e\u06cc\u0646\u06af<\/h2>\n\n\n\n\n\n\n\n\n\n
    \u0645\u0631\u062d\u0644\u0647<\/th>\n\u0648\u0636\u0639\u06cc\u062a<\/th>\n<\/tr>\n<\/thead>\n
    GPS RTK Fix (\u0627\u06af\u0631 \u062f\u0627\u0631\u06cc\u062f) \u06cc\u0627 \u062d\u062f\u0627\u0642\u0644 \u06f1\u06f0 \u0645\u0627\u0647\u0648\u0627\u0631\u0647<\/td>\n\u2610<\/td>\n<\/tr>\n
    Overlap \u2265 \u06f7\u06f0\u066a \u0628\u0631\u0627\u06cc GSD \u062e\u0648\u0628<\/td>\n\u2610<\/td>\n<\/tr>\n
    GCP (Ground Control Points) \u062d\u062f\u0627\u0642\u0644 \u06f5 \u0646\u0642\u0637\u0647<\/td>\n\u2610 (\u0628\u0631\u0627\u06cc \u062f\u0642\u062a \u06f5cm)<\/td>\n<\/tr>\n
    \u067e\u0631\u0648\u0627\u0632 \u062f\u0631 \u0647\u0648\u0627 \u0628\u06cc\u200c\u0628\u0627\u062f (\u0632\u06cc\u0631 \u06f3 m\/s)<\/td>\n\u2610<\/td>\n<\/tr>\n
    \u062f\u0648\u0631\u0628\u06cc\u0646 \u062f\u0631 \u062d\u0627\u0644\u062a Manual Exposure<\/td>\n\u2610 (ISO 200, SS 1\/1000)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nSurvey Mission<\/text>\nMission Planner<\/text>\nArduPilot + GPS<\/text>\n\u067e\u0631\u0648\u0627\u0632 \u062e\u0648\u062f\u06a9\u0627\u0631<\/text>\n\u0639\u06a9\u0633\u200c\u0647\u0627 + GPS Log<\/text>\n\u06f5\u06f0\u06f0-\u06f1\u06f5\u06f0\u06f0 \u0639\u06a9\u0633<\/text>\nOpenDroneMap<\/text>\nOrtho + 3D<\/text>\n\u067e\u0647\u067e\u0627\u062f \u0645\u067e\u06cc\u0646\u06af \u2014 \u0627\u0632 Grid Mission \u062a\u0627 \u0646\u0642\u0634\u0647 GeoTIFF<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n