{"id":572,"date":"2026-06-11T13:05:57","date_gmt":"2026-06-11T05:05:57","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/rogue-drone-tracker-rssi-lora-direction-finding-farsi\/"},"modified":"2026-06-11T13:05:58","modified_gmt":"2026-06-11T05:05:58","slug":"rogue-drone-tracker-rssi-lora-direction-finding-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/rogue-drone-tracker-rssi-lora-direction-finding-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u062f\u0633\u062a\u06af\u0627\u0647 \u0631\u062f\u06cc\u0627\u0628\u06cc \u067e\u0647\u067e\u0627\u062f Rogue \u0628\u0627 RSSI \u0648 \u062c\u0647\u062a\u200c\u06cc\u0627\u0628\u06cc LoRa (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0631\u062f\u06cc\u0627\u0628\u06cc \u067e\u0647\u067e\u0627\u062f RSSI LoRa Triangulation\n<\/div>\n
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\u0631\u062f\u06cc\u0627\u0628\u06cc RSSI \u0648 Triangulation \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0647\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 RF (LoRa\u060c WiFi\u060c BLE) \u062f\u0631 \u0647\u0646\u06af\u0627\u0645 \u0627\u0631\u0633\u0627\u0644\u060c RSSI<\/strong> (Received Signal Strength Indicator) \u0631\u0627 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0647\u0631\u0686\u0647 \u062f\u0633\u062a\u06af\u0627\u0647 \u062f\u0648\u0631\u062a\u0631 \u0628\u0627\u0634\u062f\u060c RSSI \u0645\u0646\u0641\u06cc\u200c\u062a\u0631 (\u0636\u0639\u06cc\u0641\u200c\u062a\u0631) \u0627\u0633\u062a. \u0628\u0627 \u0633\u0647 \u06af\u06cc\u0631\u0646\u062f\u0647 \u062f\u0631 \u0645\u06a9\u0627\u0646\u200c\u0647\u0627\u06cc \u0645\u062e\u062a\u0644\u0641\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0645\u0648\u0642\u0639\u06cc\u062a \u0641\u0631\u0633\u062a\u0646\u062f\u0647 \u0631\u0627 \u0628\u0627 Triangulation<\/strong> (\u0645\u062b\u0644\u062b\u200c\u0633\u0627\u0632\u06cc) \u062a\u062e\u0645\u06cc\u0646 \u0632\u062f.<\/p>\n

\u0627\u06cc\u0646 \u0633\u06cc\u0633\u062a\u0645 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u067e\u0647\u067e\u0627\u062f\u0647\u0627\u06cc\u06cc \u06a9\u0647 \u0633\u06cc\u06af\u0646\u0627\u0644 LoRa \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f (\u0645\u062b\u0644 \u0631\u062f\u06cc\u0627\u0628\u200c\u0647\u0627\u06cc \u067e\u0631\u0648\u0627\u0632) \u0631\u0627 \u0631\u062f\u06cc\u0627\u0628\u06cc \u06a9\u0646\u062f. \u062f\u0642\u062a \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u00b1\u06f1\u06f0-\u06f5\u06f0 \u0645\u062a\u0631 \u062f\u0631 \u0634\u0631\u0627\u06cc\u0637 \u0628\u0627\u0632 \u0627\u0633\u062a. \u0633\u0647 \u0646\u0648\u062f ESP32+LoRa \u062f\u0631 \u0645\u06a9\u0627\u0646\u200c\u0647\u0627\u06cc \u0645\u062e\u062a\u0644\u0641 \u0642\u0631\u0627\u0631 \u0645\u06cc\u200c\u06af\u06cc\u0631\u0646\u062f \u0648 RSSI \u0631\u0627 \u0628\u0647 \u06cc\u06a9 \u0633\u0631\u0648\u0631 \u0645\u0631\u06a9\u0632\u06cc \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f.<\/p>\n<\/div>\n

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

\u0633\u0647 \u0646\u0648\u062f LoRa + \u0633\u0631\u0648\u0631 \u0645\u0631\u06a9\u0632\u06cc \u0628\u0631\u0627\u06cc \u062a\u062e\u0645\u06cc\u0646 \u0645\u0648\u0642\u0639\u06cc\u062a \u062f\u0633\u062a\u06af\u0627\u0647 RF \u062f\u0631 \u0645\u062d\u0648\u0637\u0647.<\/p>\n

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  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f3 \u00d7 \u06f1\u06f5 \u062f\u0644\u0627\u0631 = \u06f4\u06f5 \u062f\u0644\u0627\u0631<\/li>\n
  • \u062f\u0642\u062a:<\/strong> \u00b1\u06f1\u06f0-\u06f5\u06f0 \u0645\u062a\u0631 (RSSI)<\/li>\n
  • \u0645\u062d\u062f\u0648\u062f\u0647:<\/strong> \u062a\u0627 \u06f5\u06f0\u06f0 \u0645\u062a\u0631 \u0634\u0639\u0627\u0639<\/li>\n<\/ul>\n<\/div>\n

    \n\n\nN1<\/text>\n\nN2<\/text>\n\nN3<\/text>\n\n\u067e\u0647\u067e\u0627\u062f<\/text>\n\n\n\n\n\n\nTriangulation \u2014 \u06f3 \u0646\u0648\u062f RSSI \u2192 \u0645\u0648\u0642\u0639\u06cc\u062a \u067e\u0647\u067e\u0627\u062f<\/text>\nRSSI=-85<\/text>\nRSSI=-78<\/text>\nRSSI=-92<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f \u06af\u06cc\u0631\u0646\u062f\u0647 \u0646\u0648\u062f (ESP32+LoRa)<\/h2>\n
    \n#include <LoRa.h>\n#include <WiFi.h>\n#include <HTTPClient.h>\n\nconst int NODE_ID = 1;   \/\/ \u0634\u0646\u0627\u0633\u0647 \u0646\u0648\u062f (1, 2, 3)\nconst char* SERVER = \"http:\/\/192.168.1.100:8080\/rssi\";\n\nvoid setup() {\n  WiFi.begin(\"SSID\", \"pass\");\n  while(WiFi.status()!=WL_CONNECTED) delay(500);\n  LoRa.begin(433.175E6);\n  LoRa.setSpreadingFactor(7);\n}\n\nvoid loop() {\n  int sz = LoRa.parsePacket();\n  if(sz > 0) {\n    String data = \"\";\n    while(LoRa.available()) data += char(LoRa.read());\n    int rssi = LoRa.packetRssi();\n    float snr  = LoRa.packetSnr();\n\n    \/\/ \u0627\u0631\u0633\u0627\u0644 \u0628\u0647 \u0633\u0631\u0648\u0631\n    HTTPClient http;\n    http.begin(SERVER);\n    http.addHeader(\"Content-Type\",\"application\/json\");\n    String body = \"{\\\"node\\\":\"+String(NODE_ID)+\n                  \",\\\"rssi\\\":\"+String(rssi)+\n                  \",\\\"snr\\\":\"+String(snr,1)+\n                  \",\\\"data\\\":\\\"\"+data+\"\\\"}\";\n    http.POST(body);\n    http.end();\n  }\n}\n<\/code><\/pre>\n
    \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 Triangulation (Python)<\/h2>\n
    \nimport numpy as np\n\n# \u0645\u062e\u062a\u0635\u0627\u062a \u0646\u0648\u062f\u0647\u0627 (\u0645\u062a\u0631 \u0627\u0632 \u0645\u0628\u062f\u0623)\nnodes = {1: (0, 0), 2: (460, 0), 3: (230, 350)}\n\ndef rssi_to_distance(rssi, tx_power=-20, path_loss=2.7):\n    return 10 ** ((tx_power - rssi) \/ (10 * path_loss))\n\ndef triangulate(rssi_data):\n    # rssi_data = {1: -85, 2: -78, 3: -92}\n    dists = {n: rssi_to_distance(r) for n, r in rssi_data.items()}\n    # \u062d\u0644 \u0633\u06cc\u0633\u062a\u0645 \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062f\u0627\u06cc\u0631\u0647\u200c\u0627\u06cc (Least Squares)\n    A, b = [], []\n    n_list = list(nodes.keys())\n    x0,y0 = nodes[n_list[0]]\n    d0 = dists[n_list[0]]\n    for n in n_list[1:]:\n        xi,yi = nodes[n]; di = dists[n]\n        A.append([2*(xi-x0), 2*(yi-y0)])\n        b.append(di**2 - xi**2 - yi**2 - d0**2 + x0**2 + y0**2)\n    pos = np.linalg.lstsq(A, b, rcond=None)[0]\n    return pos[0], pos[1]\n\nprint(triangulate({1:-85, 2:-78, 3:-92}))\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n\n
    \u0628\u0631\u0631\u0633\u06cc<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    \u0647\u0631 \u06f3 \u0646\u0648\u062f RSSI \u0631\u0627 \u0628\u0647 \u0633\u0631\u0648\u0631 \u0645\u06cc\u200c\u0641\u0631\u0633\u062a\u0646\u062f\u061f<\/td>\n\u2610<\/td>\n<\/tr>\n
    \u0645\u062e\u062a\u0635\u0627\u062a \u0646\u0648\u062f\u0647\u0627 \u062f\u0642\u06cc\u0642 \u0627\u0633\u062a\u061f<\/td>\n\u2610 GPS \u06cc\u0627 \u0645\u062a\u0631<\/td>\n<\/tr>\n
    \u062e\u0637\u0627 \u062f\u0631 \u0645\u06cc\u062f\u0627\u0646 \u0628\u0627\u0632 \u0632\u06cc\u0631 \u06f5\u06f0 \u0645\u062a\u0631\u061f<\/td>\n\u2610<\/td>\n<\/tr>\n
    RSSI calibration \u0628\u0627 \u0641\u0627\u0635\u0644\u0647 \u0645\u0639\u0644\u0648\u0645\u061f<\/td>\n\u2610<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nLoRa TX<\/text>\n\u067e\u0647\u067e\u0627\u062f<\/text>\n\u06f3 \u0646\u0648\u062f RSSI<\/text>\nESP32+LoRa<\/text>\nPython Server<\/text>\nTriangulation<\/text>\n\u0646\u0642\u0634\u0647 \u0645\u0648\u0642\u0639\u06cc\u062a<\/text>\nLeaflet.js<\/text>\nRSSI Triangulation \u2014 \u06f3 \u0646\u0648\u062f \u2192 \u0645\u0648\u0642\u0639\u06cc\u062a \u067e\u0647\u067e\u0627\u062f \u0631\u0648\u06cc \u0646\u0642\u0634\u0647<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
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