{"id":806,"date":"2026-06-12T15:29:55","date_gmt":"2026-06-12T07:29:55","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/rtk-gps-ublox-zedf9p-centimeter-accuracy-ugv-farsi\/"},"modified":"2026-06-12T20:38:01","modified_gmt":"2026-06-12T12:38:01","slug":"rtk-gps-ublox-zedf9p-centimeter-accuracy-ugv-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/rtk-gps-ublox-zedf9p-centimeter-accuracy-ugv-farsi\/","title":{"rendered":"RTK GPS \u0628\u0631\u0627\u06cc UGV \u2014 \u062f\u0642\u062a \u0633\u0627\u0646\u062a\u06cc\u200c\u0645\u062a\u0631\u06cc \u0628\u0627 u-blox ZED-F9P \u0627\u0631\u0632\u0627\u0646 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nRTK GPS ZED-F9P \u062f\u0642\u062a \u0633\u0627\u0646\u062a\u06cc\u0645\u062a\u0631\u06cc UGV\n<\/div>\n
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RTK GPS \u0686\u0647 \u0641\u0631\u0642\u06cc \u0628\u0627 GPS \u0645\u0639\u0645\u0648\u0644\u06cc \u062f\u0627\u0631\u062f\u061f<\/h2>\n

GPS \u0645\u0639\u0645\u0648\u0644\u06cc \u062f\u0642\u062a ~\u06f2.\u06f5 \u0645\u062a\u0631 \u062f\u0627\u0631\u062f. RTK (Real-Time Kinematic)<\/strong> \u06cc\u06a9 \u062a\u06a9\u0646\u06cc\u06a9 \u062a\u0635\u062d\u06cc\u062d \u062e\u0637\u0627 \u0627\u0633\u062a: \u06cc\u06a9 \u06af\u06cc\u0631\u0646\u062f\u0647 \u062b\u0627\u0628\u062a (Base Station) \u062f\u0631 \u0645\u06a9\u0627\u0646 \u0645\u0639\u0644\u0648\u0645 \u062f\u0627\u0626\u0645\u0627\u064b \u062e\u0637\u0627\u06cc GPS \u0631\u0627 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0628\u0647 \u06af\u06cc\u0631\u0646\u062f\u0647 \u0645\u062a\u062d\u0631\u06a9 (Rover) \u0631\u0648\u06cc UGV \u0645\u06cc\u200c\u0641\u0631\u0633\u062a\u062f. \u0628\u0627 \u0627\u06cc\u0646 \u062a\u0635\u062d\u06cc\u062d\u060c \u062f\u0642\u062a \u0628\u0647 \u06f1\u2013\u06f2 \u0633\u0627\u0646\u062a\u06cc\u200c\u0645\u062a\u0631<\/strong> \u0645\u06cc\u200c\u0631\u0633\u062f \u2014 \u06a9\u0627\u0641\u06cc \u0628\u0631\u0627\u06cc \u06a9\u0634\u0627\u0648\u0631\u0632\u06cc \u062f\u0642\u06cc\u0642\u060c \u0646\u0642\u0634\u0647\u200c\u0628\u0631\u062f\u0627\u0631\u06cc \u0648 UGV \u062d\u0631\u0641\u0647\u200c\u0627\u06cc.<\/p>\n

ZED-F9P<\/strong> \u0633\u0627\u062e\u062a u-blox\u060c \u06cc\u06a9\u06cc \u0627\u0632 \u0627\u0631\u0632\u0627\u0646\u200c\u062a\u0631\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644\u200c\u0647\u0627\u06cc RTK (~\u06f1.\u06f5M \u062a\u0648\u0645\u0627\u0646) \u0627\u0633\u062a \u06a9\u0647 \u0647\u0645 Base \u0648 \u0647\u0645 Rover \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0628\u0627\u0634\u062f. \u062a\u0635\u062d\u06cc\u062d\u0627\u062a \u0631\u0627 \u0628\u0627 \u067e\u0631\u0648\u062a\u06a9\u0644 RTCM 3.x<\/strong> \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f \u06a9\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0622\u0646 \u0631\u0627 \u0627\u0632 \u0637\u0631\u06cc\u0642 LoRa\u060c WiFi \u06cc\u0627 Serial \u0645\u0646\u062a\u0642\u0644 \u06a9\u0631\u062f.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n\n
\u062f\u0642\u062a RTK Fix<\/td>\n~\u06f1cm + \u06f1ppm (Horizontal)<\/td>\n<\/tr>\n
\u0642\u06cc\u0645\u062a \u062c\u0641\u062a<\/td>\n~\u06f3M \u062a\u0648\u0645\u0627\u0646 (SparkFun\/ArduSimple \u0646\u0633\u062e\u0647 \u0627\u0631\u0632\u0627\u0646)<\/td>\n<\/tr>\n
\u0632\u0645\u0627\u0646 Convergence<\/td>\n~\u06f6\u06f0\u2013\u06f1\u06f2\u06f0 \u062b\u0627\u0646\u06cc\u0647 \u0628\u0631\u0627\u06cc RTK Fix<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u0645\u0639\u0645\u0627\u0631\u06cc \u0633\u06cc\u0633\u062a\u0645 RTK<\/h2>\n

\n\u0645\u0639\u0645\u0627\u0631\u06cc RTK GPS \u2014 Base + Rover + Link LoRa<\/text>\n\nBase Station<\/text>\nZED-F9P \u062b\u0627\u0628\u062a<\/text>\n\u0645\u0648\u0642\u0639\u06cc\u062a Survey-in<\/text>\n\u2192 RTCM3 via LoRa<\/text>\n\nLoRa Link<\/text>\nSX1278 433MHz<\/text>\n~\u06f5km \u0628\u0631\u062f<\/text>\n\u0628\u0648\u062f\u0631\u06cc\u062a \u06f1\u06f1\u06f5\u06f2\u06f0\u06f0<\/text>\n\nRover (UGV)<\/text>\nZED-F9P \u0645\u062a\u062d\u0631\u06a9<\/text>\nRTCM \u062f\u0631\u06cc\u0627\u0641\u062a<\/text>\n\u2192 RTK Fix \u00b11cm<\/text>\n\n\n<\/svg><\/p>\n

\u0631\u0627\u0647\u200c\u0627\u0646\u062f\u0627\u0632\u06cc Base Station \u0628\u0627 u-center<\/h2>\n
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  1. \u0646\u0631\u0645\u200c\u0627\u0641\u0632\u0627\u0631 u-center<\/strong> \u0631\u0627 \u0627\u0632 u-blox \u062f\u0627\u0646\u0644\u0648\u062f \u06a9\u0646.<\/li>\n
  2. ZED-F9P Base \u0631\u0627 \u0648\u0635\u0644 \u06a9\u0646 \u2192 \u062f\u0631 u-center: View \u2192 Generation 9 Configuration \u2192 TMODE3<\/em>.<\/li>\n
  3. \u062d\u0627\u0644\u062a Survey-in<\/strong> \u0631\u0627 \u0627\u0646\u062a\u062e\u0627\u0628 \u06a9\u0646: Min Duration = 60 \u062b\u0627\u0646\u06cc\u0647\u060c Accuracy Limit = 2m.<\/li>\n
  4. \u067e\u0633 \u0627\u0632 Survey-in\u060c \u067e\u06cc\u0627\u0645 SVIN Done \u0638\u0627\u0647\u0631 \u0645\u06cc\u200c\u0634\u0648\u062f \u2014 Base \u0634\u0631\u0648\u0639 \u0628\u0647 \u0627\u0631\u0633\u0627\u0644 RTCM \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/li>\n
  5. RTCM3 \u0631\u0627 \u0627\u0632 UART1 Base \u2192 LoRa Air \u2192 LoRa Ground \u2192 UART1 Rover \u0627\u0631\u0633\u0627\u0644 \u06a9\u0646.<\/li>\n
  6. Rover \u0628\u0627\u06cc\u062f \u062f\u0631 \u0645\u062f\u062a \u06f1\u2013\u06f2 \u062f\u0642\u06cc\u0642\u0647 \u0648\u0627\u0631\u062f \u062d\u0627\u0644\u062a RTK Float<\/strong> \u0648 \u0633\u067e\u0633 RTK Fix<\/strong> \u0634\u0648\u062f.<\/li>\n<\/ol>\n
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