{"id":986,"date":"2026-06-21T15:04:50","date_gmt":"2026-06-21T07:04:50","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/ardupilot-ekf3-position-sources-farsi\/"},"modified":"2026-06-21T15:04:51","modified_gmt":"2026-06-21T07:04:51","slug":"ardupilot-ekf3-position-sources-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/ardupilot-ekf3-position-sources-farsi\/","title":{"rendered":"\u062a\u0646\u0638\u06cc\u0645 EKF3 \u0648 \u0645\u0646\u0627\u0628\u0639 \u0645\u0648\u0642\u0639\u06cc\u062a \u062f\u0631 ArduPilot (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nEKF3 \u0645\u0646\u0627\u0628\u0639 \u0645\u0648\u0642\u0639\u06cc\u062a ArduPilot\n<\/div>\n
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EKF \u0686\u06cc\u0633\u062a\u061f<\/h2>\n

EKF (Extended Kalman Filter)<\/strong> \u0645\u063a\u0632 \u0628\u0631\u0622\u0648\u0631\u062f \u0648\u0636\u0639\u06cc\u062a \u062f\u0631 ArduPilot \u0627\u0633\u062a. \u0627\u06cc\u0646 \u0641\u06cc\u0644\u062a\u0631 \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u0647\u0645\u0647 \u062d\u0633\u06af\u0631\u0647\u0627 (GPS\u060c \u0634\u062a\u0627\u0628\u200c\u0633\u0646\u062c\u060c \u0698\u06cc\u0631\u0648\u0633\u06a9\u0648\u067e\u060c \u0642\u0637\u0628\u200c\u0646\u0645\u0627\u060c \u0628\u0627\u0631\u0648\u0645\u062a\u0631) \u0631\u0627 \u0628\u0647\u200c\u0635\u0648\u0631\u062a \u0647\u0648\u0634\u0645\u0646\u062f \u062a\u0631\u06a9\u06cc\u0628 \u0645\u06cc\u200c\u06a9\u0646\u062f \u062a\u0627 \u0628\u0647\u062a\u0631\u06cc\u0646 \u062a\u062e\u0645\u06cc\u0646 \u0627\u0632 \u0645\u0648\u0642\u0639\u06cc\u062a\u060c \u0633\u0631\u0639\u062a \u0648 \u062c\u0647\u062a \u0631\u0627 \u0628\u0633\u0627\u0632\u062f. \u0646\u0633\u062e\u0647 \u0641\u0639\u0644\u06cc EKF3<\/strong> \u0627\u0633\u062a.<\/p>\n

\u0642\u062f\u0631\u062a EKF \u062f\u0631 \u0627\u06cc\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0627\u06af\u0631 \u06cc\u06a9 \u062d\u0633\u06af\u0631 \u0646\u0648\u06cc\u0632 \u06cc\u0627 \u062e\u0637\u0627 \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u062f\u060c \u0628\u0627 \u062a\u06a9\u06cc\u0647 \u0628\u0631 \u0628\u0642\u06cc\u0647 \u062d\u0633\u06af\u0631\u0647\u0627 \u0647\u0645\u0686\u0646\u0627\u0646 \u062a\u062e\u0645\u06cc\u0646 \u0642\u0627\u0628\u0644\u200c\u0627\u0639\u062a\u0645\u0627\u062f \u0645\u06cc\u200c\u062f\u0647\u062f. \u062a\u0646\u0638\u06cc\u0645 \u0645\u0646\u0627\u0628\u0639 (Sources)<\/strong> \u062a\u0639\u06cc\u06cc\u0646 \u0645\u06cc\u200c\u06a9\u0646\u062f EKF \u0627\u0632 \u06a9\u062f\u0627\u0645 \u062d\u0633\u06af\u0631 \u0628\u0631\u0627\u06cc \u0647\u0631 \u06a9\u0645\u06cc\u062a \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u062f.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n
\u0641\u06cc\u0644\u062a\u0631<\/td>\nEKF3 (\u067e\u06cc\u0634\u200c\u0641\u0631\u0636 \u0645\u062f\u0631\u0646)<\/td>\n<\/tr>\n
\u06af\u0631\u0648\u0647 \u067e\u0627\u0631\u0627\u0645\u062a\u0631<\/td>\nEK3_*, EK3_SRC*<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u06af\u0627\u0645 \u06f1: \u0641\u0639\u0627\u0644 \u0628\u0648\u062f\u0646 EKF3<\/h2>\n
AHRS_EKF_TYPE = 3    (\u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 EKF3)\nEK3_ENABLE = 1\nEK2_ENABLE = 0       (EKF2 \u0642\u062f\u06cc\u0645\u06cc \u0631\u0627 \u062e\u0627\u0645\u0648\u0634 \u06a9\u0646\u06cc\u062f)<\/code><\/pre>\n
\u06af\u0627\u0645 \u06f2: \u062a\u0646\u0638\u06cc\u0645 \u0645\u0646\u0627\u0628\u0639 \u0645\u0648\u0642\u0639\u06cc\u062a (EK3_SRC)<\/h2>\n
\u0633\u0647 \u062f\u0633\u062a\u0647 \u0645\u0646\u0628\u0639 \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f: \u0645\u0648\u0642\u0639\u06cc\u062a \u0627\u0641\u0642\u06cc (PosXY)\u060c \u0633\u0631\u0639\u062a (VelXY)\u060c \u0627\u0631\u062a\u0641\u0627\u0639 (PosZ) \u0648 \u062c\u0647\u062a (Yaw). \u0628\u0631\u0627\u06cc \u06cc\u06a9 \u067e\u0647\u067e\u0627\u062f GPS \u0645\u0639\u0645\u0648\u0644\u06cc:<\/p>\n
EK3_SRC1_POSXY = 3   (GPS)\nEK3_SRC1_VELXY = 3   (GPS)\nEK3_SRC1_POSZ  = 1   (Barometer)\nEK3_SRC1_YAW   = 1   (Compass)<\/code><\/pre>\n
\u067e\u0631\u0686\u0645\u200c\u0647\u0627\u06cc \u0633\u0644\u0627\u0645\u062a EKF<\/h2>\n
\u062f\u0631 \u06af\u0648\u0634\u0647 HUD \u0645\u0631\u0628\u0639 EKF<\/strong> \u0631\u0646\u06af\u06cc \u062f\u0627\u0631\u062f. \u0633\u0628\u0632 = \u0633\u0627\u0644\u0645\u060c \u0632\u0631\u062f\/\u0642\u0631\u0645\u0632 = \u0645\u0634\u06a9\u0644. \u0628\u0627 \u06a9\u0644\u06cc\u06a9 \u0631\u0648\u06cc \u0622\u0646\u060c \u0648\u0627\u0631\u06cc\u0627\u0646\u0633\u200c\u0647\u0627 \u0631\u0627 \u0645\u06cc\u200c\u0628\u06cc\u0646\u06cc\u062f:<\/p>\n\n\n\n\n\n
\u0648\u0627\u0631\u06cc\u0627\u0646\u0633<\/th>\n\u0645\u0639\u0646\u06cc<\/th>\n<\/tr>\n
velocity<\/td>\n\u0627\u062e\u062a\u0644\u0627\u0641 \u0633\u0631\u0639\u062a GPS \u0648 IMU<\/td>\n<\/tr>\n
pos_horiz<\/td>\n\u0627\u062e\u062a\u0644\u0627\u0641 \u0645\u0648\u0642\u0639\u06cc\u062a \u0627\u0641\u0642\u06cc<\/td>\n<\/tr>\n
compass<\/td>\n\u0627\u062e\u062a\u0644\u0627\u0641 \u0642\u0637\u0628\u200c\u0646\u0645\u0627<\/td>\n<\/tr>\n<\/table>\n
\n\u0631\u0641\u0639 \u062e\u0637\u0627\u06cc EKF Variance:<\/strong> \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0631\u06cc\u0634\u0647 \u062f\u0631 \u0627\u0631\u062a\u0639\u0627\u0634 \u0632\u06cc\u0627\u062f (Vibration)\u060c GPS \u0628\u062f \u06cc\u0627 \u0642\u0637\u0628\u200c\u0646\u0645\u0627\u06cc \u0646\u0627\u0647\u0645\u0627\u0647\u0646\u06af \u062f\u0627\u0631\u062f. \u0627\u0628\u062a\u062f\u0627 \u0627\u0631\u062a\u0639\u0627\u0634 \u0631\u0627 \u062f\u0631 \u0644\u0627\u06af \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u06cc\u062f (VIBE)\u060c \u0633\u067e\u0633 GPS \u0648 \u0642\u0637\u0628\u200c\u0646\u0645\u0627 \u0631\u0627.\n<\/div>\n
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