{"id":830,"date":"2026-06-12T15:47:32","date_gmt":"2026-06-12T07:47:32","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/uwb-dwm1000-indoor-navigation-ugv-no-gps-farsi\/"},"modified":"2026-06-12T15:47:33","modified_gmt":"2026-06-12T07:47:33","slug":"uwb-dwm1000-indoor-navigation-ugv-no-gps-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/uwb-dwm1000-indoor-navigation-ugv-no-gps-farsi\/","title":{"rendered":"\u0646\u0627\u0648\u0628\u0631\u06cc \u0628\u062f\u0648\u0646 GPS \u062f\u0631 \u0641\u0636\u0627\u06cc \u0628\u0633\u062a\u0647 \u0628\u0627 UWB (DWM1000) \u2014 \u062f\u0642\u062a \u06f1\u06f0cm (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nUWB DWM1000 \u0646\u0627\u0648\u0628\u0631\u06cc \u062f\u0627\u062e\u0644 \u0633\u0627\u062e\u062a\u0645\u0627\u0646 UGV\n<\/div>\n
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UWB \u0686\u06cc\u0633\u062a \u0648 \u0686\u0631\u0627 \u0627\u0632 WiFi \u06cc\u0627 BLE \u062f\u0642\u06cc\u0642\u200c\u062a\u0631 \u0627\u0633\u062a\u061f<\/h2>\n

UWB (Ultra-Wideband)<\/strong> \u06cc\u06a9 \u062a\u06a9\u0646\u0648\u0644\u0648\u0698\u06cc \u0631\u0627\u062f\u06cc\u0648\u06cc\u06cc \u0627\u0633\u062a \u06a9\u0647 \u067e\u0627\u0644\u0633\u200c\u0647\u0627\u06cc \u0628\u0633\u06cc\u0627\u0631 \u06a9\u0648\u062a\u0627\u0647 \u062f\u0631 \u0637\u06cc\u0641 \u0648\u0633\u06cc\u0639 (\u06f3.\u06f1\u2013\u06f1\u06f0.\u06f6GHz) \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0628\u0627 \u0627\u0646\u062f\u0627\u0632\u0647\u200c\u06af\u06cc\u0631\u06cc \u062f\u0642\u06cc\u0642 \u0632\u0645\u0627\u0646 \u0631\u0641\u062a \u0648 \u0628\u0631\u06af\u0634\u062a \u067e\u0627\u0644\u0633 (ToF \u2014 Time of Flight) \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0641\u0627\u0635\u0644\u0647 \u0631\u0627 \u0628\u0627 \u062f\u0642\u062a \u06f1\u06f0\u2013\u06f3\u06f0cm \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u0631\u0641\u062a \u2014 \u062f\u0631 \u0645\u0642\u0627\u0628\u0644 WiFi \u06a9\u0647 \u06f1\u2013\u06f2m \u0648 BLE \u06a9\u0647 \u06f5\u2013\u06f1\u06f0m \u062e\u0637\u0627 \u062f\u0627\u0631\u062f. iPhone 11 \u0628\u0647 \u0628\u0639\u062f \u0648 AirTag \u0627\u0632 UWB \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f.<\/p>\n

\u0645\u0627\u0698\u0648\u0644 DWM1000<\/strong> \u0633\u0627\u062e\u062a Decawave (\u062d\u0627\u0644\u0627 Qorvo) \u06cc\u06a9\u06cc \u0627\u0632 \u0627\u0631\u0632\u0627\u0646\u200c\u062a\u0631\u06cc\u0646 (~\u06f3\u06f5\u06f0K) \u0645\u0627\u0698\u0648\u0644\u200c\u0647\u0627\u06cc UWB \u0628\u0631\u0627\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0627\u0633\u062a. \u0628\u0631\u0627\u06cc \u0646\u0627\u0648\u0628\u0631\u06cc \u062f\u0627\u062e\u0644 \u0633\u0627\u062e\u062a\u0645\u0627\u0646 \u062d\u062f\u0627\u0642\u0644 \u06f3 Anchor<\/strong> \u062b\u0627\u0628\u062a \u0648 \u06cc\u06a9 Tag<\/strong> (Rover) \u0644\u0627\u0632\u0645 \u0627\u0633\u062a.<\/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 \u0645\u0648\u0642\u0639\u06cc\u062a<\/td>\n~\u06f1\u06f0\u2013\u06f3\u06f0cm \u062f\u0631 \u0641\u0636\u0627\u06cc \u0628\u0627\u0632\u060c \u06f2\u06f0\u2013\u06f5\u06f0cm \u062f\u0627\u062e\u0644<\/td>\n<\/tr>\n
\u062a\u0639\u062f\u0627\u062f \u0645\u0627\u0698\u0648\u0644<\/td>\n\u06f3 Anchor + \u06f1 Tag = \u06f4 \u0645\u0627\u0698\u0648\u0644 DWM1000<\/td>\n<\/tr>\n
\u0628\u0648\u062f\u062c\u0647<\/td>\n~\u06f1.\u06f5M \u062a\u0648\u0645\u0627\u0646 (\u06f4 \u0645\u0627\u0698\u0648\u0644 + Arduino)<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u0645\u0639\u0645\u0627\u0631\u06cc \u0633\u06cc\u0633\u062a\u0645 UWB Anchor\/Tag<\/h2>\n

\n\u0686\u06cc\u062f\u0645\u0627\u0646 Anchor \u062f\u0631 \u0627\u062a\u0627\u0642 \u2014 Trilateration<\/text>\n\n\u0627\u062a\u0627\u0642 (\u06f8 \u00d7 \u06f6 \u0645\u062a\u0631)<\/text>\n\n\nA0<\/text>\n0,0<\/text>\n\n\nA1<\/text>\n8,0<\/text>\n\n\nA2<\/text>\n4,6<\/text>\n\n\nTag<\/text>\n\n\n\n\n\u0645\u062d\u0644 \u0628\u0631\u062e\u0648\u0631\u062f \u06f3 \u062f\u0627\u06cc\u0631\u0647 = \u0645\u0648\u0642\u0639\u06cc\u062a Tag<\/text>\n<\/svg><\/p>\n

\u06a9\u062f Anchor \u2014 DWM1000<\/h2>\n
\/\/ \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647: arduino-dw1000 (GitHub: thotro)\n#include <DW1000.h>\n#include <DW1000Ranging.h>\n\n#define ANCHOR_ID \"01:00:22:EA:82:60:3B:9C\"\n\nvoid setup(){\n  DW1000Ranging.startAsAnchor(ANCHOR_ID, DW1000.MODE_LONGDATA_RANGE_LOWPOWER);\n}\n\nvoid loop(){\n  DW1000Ranging.loop();\n}<\/code><\/pre>\n
\u06a9\u062f Tag + Trilateration<\/h2>\n
\/\/ \u0645\u0648\u0642\u0639\u06cc\u062a Anchor\u0647\u0627 (\u0645\u062a\u0631)\nfloat ax[]={0, 8, 4};\nfloat ay[]={0, 0, 6};\nfloat d[3];  \/\/ \u0641\u0627\u0635\u0644\u0647 \u0627\u0632 \u0647\u0631 Anchor\n\nvoid trilaterate(float &px, float &py){\n  \/\/ Least Squares \u0628\u0631\u0627\u06cc \u06f3 Anchor\n  float A = 2*(ax[1]-ax[0]);\n  float B = 2*(ay[1]-ay[0]);\n  float C = d[0]*d[0]-d[1]*d[1]-ax[0]*ax[0]+ax[1]*ax[1]-ay[0]*ay[0]+ay[1]*ay[1];\n  float D = 2*(ax[2]-ax[0]);\n  float E = 2*(ay[2]-ay[0]);\n  float F = d[0]*d[0]-d[2]*d[2]-ax[0]*ax[0]+ax[2]*ax[2]-ay[0]*ay[0]+ay[2]*ay[2];\n  px = (C*E-F*B)\/(A*E-D*B);\n  py = (A*F-D*C)\/(A*E-D*B);\n}<\/code><\/pre>\n
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