{"id":808,"date":"2026-06-12T15:30:09","date_gmt":"2026-06-12T07:30:09","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/imu-gps-kalman-filter-ugv-sensor-fusion-farsi\/"},"modified":"2026-06-12T15:30:10","modified_gmt":"2026-06-12T07:30:10","slug":"imu-gps-kalman-filter-ugv-sensor-fusion-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/imu-gps-kalman-filter-ugv-sensor-fusion-farsi\/","title":{"rendered":"\u0627\u062f\u063a\u0627\u0645 IMU \u0648 GPS \u0628\u0627 \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0628\u0631\u0627\u06cc UGV \u067e\u0627\u06cc\u062f\u0627\u0631 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 EKF IMU GPS Sensor Fusion\n<\/div>\n
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\u0686\u0631\u0627 GPS \u0648 IMU \u0628\u0647 \u062a\u0646\u0647\u0627\u06cc\u06cc \u06a9\u0627\u0641\u06cc \u0646\u06cc\u0633\u062a\u0646\u062f\u061f<\/h2>\n

GPS \u062f\u0642\u062a ~\u06f2.\u06f5m \u062f\u0627\u0631\u062f\u060c \u0628\u0647\u200c\u0631\u0648\u0632\u0631\u0633\u0627\u0646\u06cc \u06f1Hz\u060c \u0648 \u062f\u0631 \u0632\u06cc\u0631 \u062f\u0631\u062e\u062a \u06cc\u0627 \u0646\u0632\u062f\u06cc\u06a9 \u0633\u0627\u062e\u062a\u0645\u0627\u0646 \u062e\u0631\u0627\u0628 \u0645\u06cc\u200c\u0634\u0648\u062f. IMU \u0628\u062f\u0648\u0646 drift \u0633\u0631\u06cc\u0639 \u0627\u0633\u062a \u0627\u0645\u0627 \u062e\u0637\u0627\u0647\u0627\u06cc\u0634 \u0628\u0627 \u0632\u0645\u0627\u0646 \u062c\u0645\u0639 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f. \u0631\u0627\u0647\u200c\u062d\u0644: \u062a\u0631\u06a9\u06cc\u0628 \u0647\u0631 \u062f\u0648 \u0628\u0627 \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646<\/strong>. \u0627\u06cc\u0646 \u0641\u06cc\u0644\u062a\u0631 \u06cc\u06a9 \u0645\u062f\u0644 \u0622\u0645\u0627\u0631\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u0647\u0631 \u0633\u0646\u0633\u0648\u0631 \u0628\u0633\u062a\u0647 \u0628\u0647 \u0642\u0627\u0628\u0644\u06cc\u062a\u200c\u0627\u0639\u062a\u0645\u0627\u062f\u0634 \u0648\u0632\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f \u0648 \u0628\u0647\u062a\u0631\u06cc\u0646 \u062a\u062e\u0645\u06cc\u0646 \u0631\u0627 \u0645\u06cc\u200c\u0633\u0627\u0632\u062f.<\/p>\n

EKF (Extended Kalman Filter)<\/strong> \u0646\u0633\u062e\u0647 \u062a\u0648\u0633\u0639\u0647\u200c\u06cc\u0627\u0641\u062a\u0647 \u0628\u0631\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc \u0645\u062b\u0644 \u0646\u0627\u0648\u0628\u0631\u06cc \u0627\u0633\u062a. ArduPilot\u060c iNAV \u0648 ROS \u0647\u0645\u0647 \u0627\u0632 EKF \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n
\u0633\u0646\u0633\u0648\u0631\u0647\u0627<\/td>\nMPU-9250 (IMU+Mag) + NEO-M8N (GPS)<\/td>\n<\/tr>\n
\u067e\u0631\u062f\u0627\u0632\u0646\u062f\u0647<\/td>\nArduino Mega \u06cc\u0627 Raspberry Pi<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0633\u0627\u062f\u0647 \u2014 Complementary \u0628\u0647 Kalman<\/h2>\n

\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc\u200c\u0647\u0627 \u0627\u0628\u062a\u062f\u0627 \u06cc\u06a9 \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u06f1D \u0628\u0631\u0627\u06cc \u062a\u0631\u06a9\u06cc\u0628 GPS Lat \u0628\u0627 Dead Reckoning \u067e\u06cc\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645:<\/p>\n

\/\/ \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u06f1 \u0628\u0639\u062f\u06cc \u0628\u0631\u0627\u06cc \u0645\u0648\u0642\u0639\u06cc\u062a X\nstruct Kalman1D {\n  float x;       \/\/ \u062a\u062e\u0645\u06cc\u0646 \u0645\u0648\u0642\u0639\u06cc\u062a\n  float P;       \/\/ \u0648\u0627\u0631\u06cc\u0627\u0646\u0633 \u062e\u0637\u0627\n  float Q=0.01;  \/\/ \u0646\u0648\u06cc\u0632 \u067e\u0631\u0648\u0633\u0633 (IMU drift)\n  float R=2.5;   \/\/ \u0646\u0648\u06cc\u0632 \u0627\u0646\u062f\u0627\u0632\u0647\u200c\u06af\u06cc\u0631\u06cc (GPS noise \u0645\u062a\u0631)\n\n  float update(float measurement, float prediction){\n    \/\/ Predict\n    P += Q;\n    \/\/ Update\n    float K = P \/ (P + R);          \/\/ Kalman Gain\n    x = prediction + K*(measurement - prediction);\n    P = (1 - K) * P;\n    return x;\n  }\n};\n\nKalman1D kx, ky;\nfloat estX=0, estY=0;\n\nvoid loop(){\n  \/\/ \u0627\u0632 Odometry\/IMU \u062a\u062e\u0645\u06cc\u0646 \u062d\u0631\u06a9\u062a\n  float predX = estX + vx * dt;\n  float predY = estY + vy * dt;\n\n  if(gps.location.isUpdated()){\n    \/\/ GPS \u0645\u0648\u0642\u0639\u06cc\u062a \u062c\u062f\u06cc\u062f (\u0645\u062a\u0631 \u0627\u0632 \u0645\u0628\u062f\u0623)\n    float gpsX = (gps.location.lat() - homeLat) * 111320.0;\n    float gpsY = (gps.location.lng() - homeLng) * 111320.0 * cos(radians(homeLat));\n    estX = kx.update(gpsX, predX);\n    estY = ky.update(gpsY, predY);\n  } else {\n    estX = predX; estY = predY;  \/\/ \u0641\u0642\u0637 IMU\n  }\n}<\/code><\/pre>\n
\u062c\u062f\u0648\u0644 \u0645\u0642\u0627\u06cc\u0633\u0647 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc Fusion<\/h2>\n\n\n\n\n\n\n\n\n
\u0631\u0648\u0634<\/th>\n\u067e\u06cc\u0686\u06cc\u062f\u06af\u06cc<\/th>\n\u062f\u0642\u062a<\/th>\n\u0645\u0646\u0627\u0633\u0628 \u0628\u0631\u0627\u06cc<\/th>\n<\/tr>\n<\/thead>\n
\u0641\u06cc\u0644\u062a\u0631 \u0645\u06a9\u0645\u0644<\/td>\n\u062e\u06cc\u0644\u06cc \u0633\u0627\u062f\u0647<\/td>\n\u0645\u062a\u0648\u0633\u0637<\/td>\n\u062a\u0639\u0627\u062f\u0644 \u0631\u0628\u0627\u062a<\/td>\n<\/tr>\n
Kalman 1D<\/td>\n\u0633\u0627\u062f\u0647<\/td>\n\u062e\u0648\u0628<\/td>\nGPS + Odometry<\/td>\n<\/tr>\n
EKF (ArduPilot)<\/td>\n\u067e\u06cc\u0686\u06cc\u062f\u0647<\/td>\n\u0639\u0627\u0644\u06cc<\/td>\nUGV \u062d\u0631\u0641\u0647\u200c\u0627\u06cc<\/td>\n<\/tr>\n
robot_localization (ROS)<\/td>\n\u067e\u06cc\u0686\u06cc\u062f\u0647<\/td>\n\u0639\u0627\u0644\u06cc<\/td>\nRaspberry Pi + ROS<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
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