{"id":17710,"date":"2024-08-07T20:43:19","date_gmt":"2024-08-07T17:13:19","guid":{"rendered":"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/"},"modified":"2024-08-07T20:43:19","modified_gmt":"2024-08-07T17:13:19","slug":"%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1","status":"publish","type":"post","link":"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/","title":{"rendered":"\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0686\u06cc\u0633\u062a\u061f  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href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d8%b1%d8%a7%d9%86%d9%86%d8%af%da%af%db%8c_%d8%af%d8%b1_%d9%85%d9%87_%da%a9%d8%a7%d9%84%d9%85%d9%86_%d8%a8%d9%87_%d8%b9%d9%86%d9%88%d8%a7%d9%86_%da%86%d8%b1%d8%a7%d8%ba_%d9%87%d8%a7%db%8c_%d8%ac%d9%84%d9%88_%d8%b4%d9%85%d8%a7_%d9%81%db%8c%d9%84%d8%aa%d8%b1_%d9%85%db%8c_%d8%b4%d9%88%d8%af\" >\u0631\u0627\u0646\u0646\u062f\u06af\u06cc \u062f\u0631 \u0645\u0647: \u06a9\u0627\u0644\u0645\u0646 \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u0686\u0631\u0627\u063a \u0647\u0627\u06cc \u062c\u0644\u0648 \u0634\u0645\u0627 \u0641\u06cc\u0644\u062a\u0631 \u0645\u06cc \u0634\u0648\u062f<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d9%81%db%8c%d9%84%d8%aa%d8%b1%d9%87%d8%a7%db%8c_%da%a9%d8%a7%d9%84%d9%85%d9%86_%da%86%db%8c%d8%b3%d8%aa%d8%9f\" >\u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0686\u06cc\u0633\u062a\u061f<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d9%81%db%8c%d9%84%d8%aa%d8%b1_%da%a9%d8%a7%d9%84%d9%85%d9%86_%da%86%da%af%d9%88%d9%86%d9%87_%da%a9%d8%a7%d8%b1_%d9%85%db%8c_%da%a9%d9%86%d8%af%d8%9f\" >\u0641\u06cc\u0644\u062a\u0631 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href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d9%81%db%8c%d9%84%d8%aa%d8%b1%d9%87%d8%a7%db%8c_%da%a9%d8%a7%d9%84%d9%85%d9%86_%d8%af%d8%b1_%d8%b9%d9%85%d9%84_%d8%a2%d9%85%d9%88%d8%b2%d8%b4_%da%af%d8%a7%d9%85_%d8%a8%d9%87_%da%af%d8%a7%d9%85_%da%a9%d8%af\" >\u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u062f\u0631 \u0639\u0645\u0644: \u0622\u0645\u0648\u0632\u0634 \u06af\u0627\u0645 \u0628\u0647 \u06af\u0627\u0645 \u06a9\u062f<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d9%88%d8%a7%d8%b1%d8%af%d8%a7%d8%aa_%da%a9%d8%aa%d8%a7%d8%a8%d8%ae%d8%a7%d9%86%d9%87_%d9%87%d8%a7\" >\u0648\u0627\u0631\u062f\u0627\u062a \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0647\u0627<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d8%b1%d9%88%d8%b4_%d8%b9%d9%85%d9%84%da%a9%d8%b1%d8%af_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d8%b1%d8%a7_%d8%aa%d8%b9%d8%b1%db%8c%d9%81_%da%a9%d9%86%db%8c%d8%af\" >\u0631\u0648\u0634 \u0639\u0645\u0644\u06a9\u0631\u062f 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ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d9%81%db%8c%d9%84%d8%aa%d8%b1_%da%a9%d8%a7%d9%84%d9%85%d9%86_%d8%b1%d8%a7_%d8%aa%d9%86%d8%b8%db%8c%d9%85_%da%a9%d9%86%db%8c%d8%af\" >\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d8%b9%d8%af%d9%85_%d9%82%d8%b7%d8%b9%db%8c%d8%aa_%d8%af%d8%b1_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d8%b1%d8%a7_%d8%b4%d8%b1%d8%ad_%d8%af%d9%87%db%8c%d8%af\" >\u0639\u062f\u0645 \u0642\u0637\u0639\u06cc\u062a \u062f\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0634\u0631\u062d \u062f\u0647\u06cc\u062f<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d8%b4%d8%a8%db%8c%d9%87_%d8%b3%d8%a7%d8%b2%db%8c_%d8%af%d8%a7%d8%af%d9%87_%d9%87%d8%a7_%d9%88_%d8%ad%d8%a7%d9%84%d8%aa_%d8%a7%d9%88%d9%84%db%8c%d9%87\" >\u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u062f\u0627\u062f\u0647 \u0647\u0627 \u0648 \u062d\u0627\u0644\u062a \u0627\u0648\u0644\u06cc\u0647<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d8%b4%d8%a8%db%8c%d9%87_%d8%b3%d8%a7%d8%b2%db%8c_%d8%aa%d8%ba%db%8c%db%8c%d8%b1%d8%a7%d8%aa_%d9%88%d8%a7%d9%82%d8%b9%db%8c_%d8%b3%db%8c%d8%b3%d8%aa%d9%85\" >\u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0648\u0627\u0642\u0639\u06cc \u0633\u06cc\u0633\u062a\u0645<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d9%81%db%8c%d9%84%d8%aa%d8%b1_%d9%85%d8%b1%d8%a7%d8%ad%d9%84_%d8%a8%d8%b1%d8%a7%db%8c_%d8%aa%d8%ae%d9%85%db%8c%d9%86_%d9%88%d8%b6%d8%b9%db%8c%d8%aa\" >\u0641\u06cc\u0644\u062a\u0631 \u0645\u0631\u0627\u062d\u0644 \u0628\u0631\u0627\u06cc \u062a\u062e\u0645\u06cc\u0646 \u0648\u0636\u0639\u06cc\u062a<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-15\" href=\"https:\/\/rasanegaar.com\/blog\/%d9%81%db%8c%d9%84%d8%aa%d8%b1-%da%a9%d8%a7%d9%84%d9%85%d9%86-%da%86%db%8c%d8%b3%d8%aa%d8%9f-%da%86%da%af%d9%88%d9%86%d9%87-%d8%af%d8%a7%d8%af%d9%87-%d9%87%d8%a7%db%8c-%d9%be%d8%b1-%d8%b3%d8%b1\/#%d9%86%d8%aa%db%8c%d8%ac%d9%87_%da%af%db%8c%d8%b1%db%8c_%d9%be%db%8c%d9%85%d8%a7%db%8c%d8%b4_%d8%af%d8%a7%d8%af%d9%87_%d9%87%d8%a7%db%8c_%d8%ba%db%8c%d8%b1%d8%ae%d8%b7%db%8c_%d8%a8%d8%a7_%d8%aa%da%a9%d9%86%db%8c%da%a9_%d9%87%d8%a7%db%8c_%d9%be%db%8c%d8%b4%d8%b1%d9%81%d8%aa%d9%87\" >\u0646\u062a\u06cc\u062c\u0647 \u06af\u06cc\u0631\u06cc: \u067e\u06cc\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc \u0628\u0627 \u062a\u06a9\u0646\u06cc\u06a9 \u0647\u0627\u06cc \u067e\u06cc\u0634\u0631\u0641\u062a\u0647<\/a><\/li><\/ul><\/nav><\/div>\n<span class=\"span-reading-time rt-reading-time\" style=\"display: block;\"><span class=\"rt-label rt-prefix\">\u0632\u0645\u0627\u0646 \u0644\u0627\u0632\u0645 \u0628\u0631\u0627\u06cc \u0645\u0637\u0627\u0644\u0639\u0647: <\/span> <span class=\"rt-time\"> 8<\/span> <span class=\"rt-label rt-postfix\">\u062f\u0642\u06cc\u0642\u0647<\/span><\/span><p> <br \/>\n<\/p>\n<section class=\"post-content \" data-test-label=\"post-content\">\n<p>\u062f\u0631 \u062f\u0646\u06cc\u0627\u06cc\u06cc \u06a9\u0647 \u062f\u0642\u062a \u0627\u0645\u0631\u06cc \u06a9\u0644\u06cc\u062f\u06cc \u0627\u0633\u062a\u060c \u0645\u062f\u06cc\u0631\u06cc\u062a \u0645\u0648\u062b\u0631 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u067e\u0631 \u0633\u0631 \u0648 \u0635\u062f\u0627 \u0628\u0631\u0627\u06cc \u062d\u0644 \u0645\u0634\u06a9\u0644\u0627\u062a \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0628\u0633\u06cc\u0627\u0631 \u0645\u0647\u0645 \u0627\u0633\u062a.<\/p>\n<p>\u0686\u0647 \u0628\u062e\u0648\u0627\u0647\u06cc\u062f \u06cc\u06a9 \u0645\u0648\u0634\u06a9 \u0631\u0627 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u06cc\u062f \u06cc\u0627 \u0628\u0627\u0632\u0627\u0631 \u0633\u0647\u0627\u0645 \u0631\u0627 \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u06a9\u0646\u06cc\u062f\u060c \u062a\u0648\u0627\u0646\u0627\u06cc\u06cc \u0628\u0647 \u062f\u0633\u062a \u0622\u0648\u0631\u062f\u0646 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u062e\u0648\u0628 \u0627\u0632 \u06cc\u06a9 \u0645\u062d\u06cc\u0637 \u0646\u0627\u0645\u0634\u062e\u0635 \u0645\u0647\u0645 \u0627\u0633\u062a.<\/p>\n<p>\u0627\u06cc\u0646 \u062f\u0642\u06cc\u0642\u0627\u064b \u0647\u0645\u0627\u0646 \u0645\u0634\u06a9\u0644\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0628\u0647 \u062d\u0644 \u0622\u0646 \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u0646\u062f.  \u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0631\u0627\u0647 \u062d\u0644\u06cc \u0631\u0627 \u0627\u0631\u0627\u0626\u0647 \u0645\u06cc \u062f\u0647\u0646\u062f \u06a9\u0647 \u0628\u0647 \u0634\u0645\u0627 \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u062f \u0628\u0627 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u0646\u0648\u06cc\u0632 \u062f\u0631 \u0628\u0633\u06cc\u0627\u0631\u06cc \u0627\u0632 \u0632\u0645\u06cc\u0646\u0647 \u0647\u0627 \u0645\u0642\u0627\u0628\u0644\u0647 \u06a9\u0646\u06cc\u062f.<\/p>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0628\u062d\u062b \u062e\u0648\u0627\u0647\u06cc\u0645 \u067e\u0631\u062f\u0627\u062e\u062a:<\/p>\n<ul>\n<li>\u0631\u0627\u0646\u0646\u062f\u06af\u06cc \u062f\u0631 \u0645\u0647: \u06a9\u0627\u0644\u0645\u0646 \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u0686\u0631\u0627\u063a \u0647\u0627\u06cc \u062c\u0644\u0648 \u0634\u0645\u0627 \u0641\u06cc\u0644\u062a\u0631 \u0645\u06cc \u0634\u0648\u062f<\/li>\n<li>\u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0686\u06cc\u0633\u062a\u061f<\/li>\n<li>\u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u062f\u0631 \u0639\u0645\u0644: \u0646\u0645\u0648\u0646\u0647 \u06a9\u062f \u06af\u0627\u0645 \u0628\u0647 \u06af\u0627\u0645<\/li>\n<li>\u0646\u062a\u06cc\u062c\u0647 \u06af\u06cc\u0631\u06cc: \u067e\u06cc\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc \u0628\u0627 \u062a\u06a9\u0646\u06cc\u06a9 \u0647\u0627\u06cc \u067e\u06cc\u0634\u0631\u0641\u062a\u0647<\/li>\n<\/ul>\n<p><!--kg-card-begin: html--><\/p>\n<h2 id=\"Driving\"><span class=\"ez-toc-section\" id=\"%d8%b1%d8%a7%d9%86%d9%86%d8%af%da%af%db%8c_%d8%af%d8%b1_%d9%85%d9%87_%da%a9%d8%a7%d9%84%d9%85%d9%86_%d8%a8%d9%87_%d8%b9%d9%86%d9%88%d8%a7%d9%86_%da%86%d8%b1%d8%a7%d8%ba_%d9%87%d8%a7%db%8c_%d8%ac%d9%84%d9%88_%d8%b4%d9%85%d8%a7_%d9%81%db%8c%d9%84%d8%aa%d8%b1_%d9%85%db%8c_%d8%b4%d9%88%d8%af\"><\/span>\u0631\u0627\u0646\u0646\u062f\u06af\u06cc \u062f\u0631 \u0645\u0647: \u06a9\u0627\u0644\u0645\u0646 \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u0686\u0631\u0627\u063a \u0647\u0627\u06cc \u062c\u0644\u0648 \u0634\u0645\u0627 \u0641\u06cc\u0644\u062a\u0631 \u0645\u06cc \u0634\u0648\u062f<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><!--kg-card-end: html--><\/p>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/pexels-eberhardgross-1287075.jpg\" class=\"kg-image\" alt=\"pexels-eberhardgross-1287075\" width=\"2000\" height=\"1333\" loading=\"lazy\" title=\"\"><figcaption>\u0639\u06a9\u0633 \u0627\u0632 eberhard grossgasteiger: https:\/\/www.pexels.com\/photo\/forest-under-clouds-1287075\/<\/figcaption><\/figure>\n<p>\u062a\u0635\u0648\u0631 \u06a9\u0646\u06cc\u062f \u062f\u0631 \u062d\u0627\u0644 \u0631\u0627\u0646\u0646\u062f\u06af\u06cc \u062f\u0631 \u06cc\u06a9 \u0645\u0647 \u063a\u0644\u06cc\u0638 \u0628\u0627 \u062f\u06cc\u062f \u0645\u062d\u062f\u0648\u062f \u0647\u0633\u062a\u06cc\u062f.<\/p>\n<p>\u0628\u0631\u0627\u06cc \u0631\u0633\u06cc\u062f\u0646 \u0628\u0647 \u0645\u0642\u0635\u062f\u060c \u062a\u06a9\u06cc\u0647 \u0645\u06cc \u06a9\u0646\u06cc\u062f \u0631\u0648\u06cc \u062d\u0648\u0627\u0633 \u0634\u0645\u0627 \u0648 \u0633\u06cc\u0633\u062a\u0645 \u0646\u0627\u0648\u0628\u0631\u06cc \u0645\u0627\u0634\u06cc\u0646 \u0634\u0645\u0627 \u06a9\u0647 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u0628\u0644\u0627\u062f\u0631\u0646\u06af \u0631\u0627 \u0628\u0627 \u06cc\u06a9 \u0646\u0642\u0634\u0647 \u0627\u0632 \u067e\u06cc\u0634 \u062a\u0639\u06cc\u06cc\u0646 \u0634\u062f\u0647 \u062a\u0631\u06a9\u06cc\u0628 \u0645\u06cc \u06a9\u0646\u062f.<\/p>\n<p>\u062f\u0631 \u062d\u06cc\u0646 \u062d\u0631\u06a9\u062a\u060c \u0633\u06cc\u0633\u062a\u0645 \u0646\u0627\u0648\u0628\u0631\u06cc \u062e\u0648\u062f\u0631\u0648 \u0647\u0645\u06cc\u0634\u0647 \u0628\u0631\u0627\u06cc \u0631\u0633\u06cc\u062f\u0646 \u0628\u0647 \u0645\u0642\u0635\u062f \u062f\u0631 \u062d\u0627\u0644 \u062a\u0646\u0638\u06cc\u0645 \u0627\u0633\u062a \u0648 \u0634\u0645\u0627 \u0647\u0645\u06cc\u0634\u0647 \u0645\u062a\u06a9\u06cc \u0647\u0633\u062a\u06cc\u062f \u0631\u0648\u06cc \u062d\u0648\u0627\u0633 \u062e\u0648\u062f \u0631\u0627 \u0628\u0631\u0627\u06cc \u0631\u0627\u0646\u0646\u062f\u06af\u06cc \u062e\u0648\u0628 \u0645\u0627\u0634\u06cc\u0646.<\/p>\n<p>\u0627\u06cc\u0646 process \u0628\u0633\u06cc\u0627\u0631 \u0634\u0628\u06cc\u0647 \u0628\u0647 \u0631\u0648\u0634 \u0639\u0645\u0644\u06a9\u0631\u062f \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0627\u0633\u062a.<\/p>\n<p>\u0628\u0647 \u0637\u0648\u0631 \u0645\u062f\u0627\u0648\u0645 \u062f\u0631 \u062d\u0627\u0644 \u0628\u0647 \u0631\u0648\u0632 \u0631\u0633\u0627\u0646\u06cc \u0627\u0633\u062a\u060c \u0648 \u0628\u0631 \u0627\u0633\u0627\u0633 \u0628\u0631\u0622\u0648\u0631\u062f\u0647\u0627 \u0631\u0627 \u0627\u0635\u0644\u0627\u062d \u0645\u06cc \u06a9\u0646\u062f \u0631\u0648\u06cc \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u062f\u0631\u06cc\u0627\u0641\u062a\u06cc  \u062d\u062a\u06cc \u0627\u06af\u0631 \u0627\u06cc\u0646 \u062f\u0627\u062f\u0647 \u0647\u0627 \u067e\u0631 \u0627\u0632 \u0646\u0648\u06cc\u0632 \u0648 \u0639\u062f\u0645 \u0642\u0637\u0639\u06cc\u062a \u0628\u0627\u0634\u062f.<\/p>\n<p>\u0628\u0627 \u0627\u062f\u063a\u0627\u0645 \u0627\u0637\u0644\u0627\u0639\u0627\u062a \u06af\u0630\u0634\u062a\u0647 \u0628\u0627 \u0627\u0637\u0644\u0627\u0639\u0627\u062a \u0641\u0639\u0644\u06cc\u060c \u06cc\u06a9 \u0641\u06cc\u0644\u062a\u0631 Kalman \u062a\u0635\u0648\u06cc\u0631 \u0648\u0627\u0636\u062d\u06cc \u0627\u0632 \u062c\u0627\u06cc\u06cc \u06a9\u0647 \u0647\u0633\u062a\u06cc\u062f \u0648 \u0628\u0647 \u06a9\u062c\u0627 \u0645\u06cc\u200c\u0631\u0648\u06cc\u062f \u0628\u0647 \u0634\u0645\u0627 \u0645\u06cc\u200c\u062f\u0647\u062f.<\/p>\n<h2 id=\"what-are-kalman-filters\"><span class=\"ez-toc-section\" id=\"%d9%81%db%8c%d9%84%d8%aa%d8%b1%d9%87%d8%a7%db%8c_%da%a9%d8%a7%d9%84%d9%85%d9%86_%da%86%db%8c%d8%b3%d8%aa%d8%9f\"><\/span>\u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0686\u06cc\u0633\u062a\u061f<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/pexels-mikebirdy-170811.jpg\" class=\"kg-image\" alt=\"pexels-mikebirdy-170811\" width=\"2000\" height=\"1124\" loading=\"lazy\" title=\"\"><figcaption>\u0639\u06a9\u0633 \u0645\u0627\u06cc\u06a9 \u0628\u0631\u062f \u0631\u0648\u06cc \u067e\u06cc\u06a9\u0633\u0644 \u0647\u0627<\/figcaption><\/figure>\n<p>\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u06cc\u06a9 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 \u0631\u06cc\u0627\u0636\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0631\u0627\u06cc \u06cc\u0627\u0641\u062a\u0646 \u0648\u0636\u0639\u06cc\u062a \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u067e\u0648\u06cc\u0627 \u0627\u0632 \u0627\u0646\u062f\u0627\u0632\u0647\u200c\u06af\u06cc\u0631\u06cc\u200c\u0647\u0627\u06cc \u067e\u0631 \u0633\u0631 \u0648 \u0635\u062f\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n<p>\u0627\u063a\u0644\u0628 \u0628\u0631\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f \u06a9\u0647 \u062f\u0631 \u0637\u0648\u0644 \u0632\u0645\u0627\u0646 \u062a\u063a\u06cc\u06cc\u0631 \u0645\u06cc \u06a9\u0646\u0646\u062f &#8211; \u0645\u0627\u0646\u0646\u062f \u0631\u062f\u06cc\u0627\u0628\u06cc \u0645\u0648\u0642\u0639\u06cc\u062a \u06cc\u06a9 \u062c\u0633\u0645 \u0645\u062a\u062d\u0631\u06a9.<\/p>\n<h3 id=\"how-does-a-kalman-filter-work\"><span class=\"ez-toc-section\" id=\"%d9%81%db%8c%d9%84%d8%aa%d8%b1_%da%a9%d8%a7%d9%84%d9%85%d9%86_%da%86%da%af%d9%88%d9%86%d9%87_%da%a9%d8%a7%d8%b1_%d9%85%db%8c_%da%a9%d9%86%d8%af%d8%9f\"><\/span>\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0686\u06af\u0648\u0646\u0647 \u06a9\u0627\u0631 \u0645\u06cc \u06a9\u0646\u062f\u061f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0648\u0636\u0639\u06cc\u062a \u0641\u0639\u0644\u06cc \u0634\u0645\u0627 \u0631\u0627 \u0628\u0631 \u0627\u0633\u0627\u0633 \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u0645\u06cc \u06a9\u0646\u062f \u0631\u0648\u06cc \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u06af\u0630\u0634\u062a\u0647\u060c \u0645\u0627\u0646\u0646\u062f \u0646\u0642\u0634\u0647 \u0648 \u0645\u06a9\u0627\u0646 \u0642\u0628\u0644\u06cc \u0634\u0645\u0627.<\/p>\n<p>\u0647\u0646\u06af\u0627\u0645\u06cc \u06a9\u0647 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u062c\u062f\u06cc\u062f \u0638\u0627\u0647\u0631 \u0645\u06cc \u0634\u0648\u062f\u060c \u0645\u0627\u0646\u0646\u062f \u0633\u06cc\u06af\u0646\u0627\u0644 \u0647\u0627\u06cc \u062c\u062f\u06cc\u062f GPS\u060c \u0641\u06cc\u0644\u062a\u0631 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u062c\u062f\u06cc\u062f \u0631\u0627 \u0628\u0627 \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u062e\u0648\u062f \u0645\u0642\u0627\u06cc\u0633\u0647 \u0645\u06cc \u06a9\u0646\u062f \u0648 \u062a\u062e\u0645\u06cc\u0646 \u062e\u0648\u062f \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u062f.<\/p>\n<p>\u062d\u062a\u06cc \u0627\u06af\u0631 \u062f\u0627\u062f\u0647 \u0647\u0627 \u062f\u0627\u0631\u0627\u06cc \u0646\u0648\u06cc\u0632 \u0628\u0627\u0634\u0646\u062f\u060c \u0641\u06cc\u0644\u062a\u0631 Kalman \u0627\u0632 \u0645\u06cc\u0627\u0646\u06af\u06cc\u0646 \u06af\u06cc\u0631\u06cc \u0647\u0648\u0634\u0645\u0646\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u06a9\u0646\u062f process \u0628\u0631\u0627\u06cc \u0628\u0647\u0628\u0648\u062f \u0628\u0631\u0622\u0648\u0631\u062f  \u0645\u0627\u0646\u0646\u062f \u0631\u0648\u0634 \u062a\u0639\u0627\u062f\u0644 \u0628\u06cc\u0646 \u0622\u0646\u0686\u0647 \u0633\u06cc\u0633\u062a\u0645 \u0646\u0627\u0648\u0628\u0631\u06cc \u0628\u0647 \u0634\u0645\u0627 \u0645\u06cc \u06af\u0648\u06cc\u062f \u0648 \u0622\u0646\u0686\u0647 \u0645\u06cc \u0628\u06cc\u0646\u06cc\u062f \u0631\u0648\u06cc \u062c\u0627\u062f\u0647.<\/p>\n<p>\u0628\u0627 \u0627\u062f\u063a\u0627\u0645 \u0647\u0645\u06cc\u0634\u0647 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u062c\u062f\u06cc\u062f \u0628\u0627 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u06af\u0630\u0634\u062a\u0647\u060c \u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc Kalman \u0628\u0647 \u0634\u0645\u0627 \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u062f \u062a\u0627 \u0628\u062f\u0627\u0646\u06cc\u062f \u06a9\u062c\u0627 \u0647\u0633\u062a\u06cc\u062f \u0648 \u0628\u0647 \u06a9\u062c\u0627 \u0645\u06cc \u0631\u0648\u06cc\u062f.  \u0628\u0647 \u0627\u06cc\u0646 \u062a\u0631\u062a\u06cc\u0628 \u062d\u062a\u06cc \u062f\u0631 \u0634\u0631\u0627\u06cc\u0637 \u0646\u0627\u0645\u0637\u0645\u0626\u0646 \u0646\u06cc\u0632 \u0645\u06cc \u062a\u0648\u0627\u0646 \u0645\u0648\u0627\u0631\u062f \u0631\u0627 \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u06a9\u0631\u062f.<\/p>\n<h3 id=\"why-are-kalman-filters-used-in-engineering\"><span class=\"ez-toc-section\" id=\"%da%86%d8%b1%d8%a7_%d8%a7%d8%b2_%d9%81%db%8c%d9%84%d8%aa%d8%b1%d9%87%d8%a7%db%8c_%da%a9%d8%a7%d9%84%d9%85%d9%86_%d8%af%d8%b1_%d9%85%d9%87%d9%86%d8%af%d8%b3%db%8c_%d8%a7%d8%b3%d8%aa%d9%81%d8%a7%d8%af%d9%87_%d9%85%db%8c_%d8%b4%d9%88%d8%af%d8%9f\"><\/span>\u0686\u0631\u0627 \u0627\u0632 \u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u062f\u0631 \u0645\u0647\u0646\u062f\u0633\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f\u061f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u0627\u0632 \u0622\u0646\u062c\u0627\u06cc\u06cc \u06a9\u0647 \u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0642\u0627\u062f\u0631 \u0628\u0647 \u0645\u062f\u06cc\u0631\u06cc\u062a \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u0646\u0627\u0642\u0635 \u0647\u0633\u062a\u0646\u062f\u060c \u0628\u0647 \u0637\u0648\u0631 \u06af\u0633\u062a\u0631\u062f\u0647 \u0627\u06cc \u0628\u0631\u0627\u06cc \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u0647\u0627\u06cc \u062e\u0648\u0628 \u062d\u062a\u06cc \u0632\u0645\u0627\u0646\u06cc \u06a9\u0647 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u0647\u0627 \u0642\u0637\u0639\u06cc \u0646\u06cc\u0633\u062a \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f.<\/p>\n<p>\u0627\u06cc\u0646 \u0628\u0627\u0639\u062b \u0645\u06cc \u0634\u0648\u062f \u0622\u0646\u0647\u0627 \u0628\u0631\u0627\u06cc \u0645\u0648\u0627\u0631\u062f \u0632\u06cc\u0631 \u0628\u0633\u06cc\u0627\u0631 \u0645\u0641\u06cc\u062f \u0628\u0627\u0634\u0646\u062f:<\/p>\n<ul>\n<li><strong>\u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u0646\u0627\u0648\u0628\u0631\u06cc<\/strong>: \u062a\u062e\u0645\u06cc\u0646 \u0645\u0648\u0642\u0639\u06cc\u062a \u0648 \u0633\u0631\u0639\u062a \u0648\u0633\u0627\u06cc\u0644 \u0646\u0642\u0644\u06cc\u0647.<\/li>\n<li><strong>\u0631\u0628\u0627\u062a\u06cc\u06a9<\/strong>: \u06a9\u0645\u06a9 \u0628\u0647 \u0631\u0628\u0627\u062a \u0647\u0627 \u0628\u0631\u0627\u06cc \u062f\u0631\u06a9 \u0645\u062d\u06cc\u0637 \u0648 \u0645\u0648\u0642\u0639\u06cc\u062a \u062e\u0648\u062f.<\/li>\n<li><strong>\u062f\u0627\u0631\u0627\u06cc\u06cc\u060c \u0645\u0627\u0644\u06cc\u0647\u060c \u0633\u0631\u0645\u0627\u06cc\u0647 \u06af\u0630\u0627\u0631\u06cc<\/strong>: \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0631\u062f\u0646 \u0646\u0648\u06cc\u0632 \u0627\u0632 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u0642\u06cc\u0645\u062a \u0633\u0647\u0627\u0645 \u0628\u0631\u0627\u06cc \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u0631\u0648\u0646\u062f.<\/li>\n<\/ul>\n<p>\u0628\u0647 \u0627\u06cc\u0646 \u062a\u0631\u062a\u06cc\u0628\u060c \u0622\u0646\u0647\u0627 \u0628\u0633\u06cc\u0627\u0631 \u0633\u0627\u0632\u06af\u0627\u0631 \u0647\u0633\u062a\u0646\u062f \u0648 \u0645\u06cc \u062a\u0648\u0627\u0646\u0646\u062f process \u0627\u0637\u0644\u0627\u0639\u0627\u062a \u0628\u0644\u0627\u062f\u0631\u0646\u06af<\/p>\n<h3 id=\"what-problem-did-kalman-filters-solve\"><span class=\"ez-toc-section\" id=\"%d9%81%db%8c%d9%84%d8%aa%d8%b1_%da%a9%d8%a7%d9%84%d9%85%d9%86_%da%86%d9%87_%d9%85%d8%b4%da%a9%d9%84%db%8c_%d8%b1%d8%a7_%d8%ad%d9%84_%da%a9%d8%b1%d8%af%d8%9f\"><\/span>\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0686\u0647 \u0645\u0634\u06a9\u0644\u06cc \u0631\u0627 \u062d\u0644 \u06a9\u0631\u062f\u061f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u062a\u0648\u0633\u0637 \u0631\u0648\u062f\u0648\u0644\u0641 \u06a9\u0627\u0644\u0645\u0646 \u062f\u0631 \u0627\u0648\u0627\u06cc\u0644 \u062f\u0647\u0647 1960 \u0628\u0631\u0627\u06cc \u062d\u0644 \u0645\u0634\u06a9\u0644 \u0645\u062f\u06cc\u0631\u06cc\u062a \u0639\u062f\u0645 \u0642\u0637\u0639\u06cc\u062a \u0648 \u0646\u0648\u06cc\u0632 \u062f\u0631 \u062f\u0627\u062f\u0647 \u0647\u0627 \u062a\u0648\u0633\u0639\u0647 \u06cc\u0627\u0641\u062a.<\/p>\n<p>\u0627\u0645\u0631\u0648\u0632\u0647 \u0622\u0646\u0647\u0627 \u0628\u0631\u0627\u06cc \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u0627\u0637\u0644\u0627\u0639\u0627\u062a \u0645\u0639\u0646\u06cc \u062f\u0627\u0631 \u0627\u0632 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u067e\u0631 \u0633\u0631 \u0648 \u0635\u062f\u0627 \u0639\u0627\u0644\u06cc \u0647\u0633\u062a\u0646\u062f.<\/p>\n<p>\u0627\u0632 \u0646\u0638\u0631 \u0631\u06cc\u0627\u0636\u06cc\u060c \u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0631\u0627 \u0628\u0631\u0622\u0648\u0631\u062f\u06af\u0631\u0647\u0627\u06cc \u062f\u0631\u062c\u0647 \u062f\u0648\u0645 \u062e\u0637\u06cc \u0645\u06cc \u0646\u0627\u0645\u0646\u062f.<\/p>\n<p>\u0627\u06cc\u0646 \u0628\u0647 \u0627\u06cc\u0646 \u062f\u0644\u06cc\u0644 \u0627\u0633\u062a \u06a9\u0647\u060c \u062f\u0631 process \u0628\u0631\u0622\u0648\u0631\u062f \u0622\u06cc\u0646\u062f\u0647 \u0628\u0631 \u0627\u0633\u0627\u0633 \u0631\u0648\u06cc \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u0641\u0639\u0644\u06cc \u0648 \u06af\u0630\u0634\u062a\u0647\u060c \u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc Kalman \u0627\u0632 \u0645\u0648\u0627\u0631\u062f \u0632\u06cc\u0631 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u06a9\u0646\u0646\u062f:<\/p>\n<ul>\n<li>\u062c\u0628\u0631 \u062e\u0637\u06cc: \u0645\u0637\u0627\u0644\u0639\u0647 \u0628\u0631\u062f\u0627\u0631\u0647\u0627 \u0648 \u0645\u0627\u062a\u0631\u06cc\u0633 \u0647\u0627\u06cc \u0645\u0648\u0631\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0628\u0631\u0627\u06cc \u062d\u0644 \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062e\u0637\u06cc.<\/li>\n<li>\u0628\u0647\u06cc\u0646\u0647\u200c\u0633\u0627\u0632\u06cc \u062f\u0631\u062c\u0647 \u062f\u0648\u0645: \u06cc\u0627\u0641\u062a\u0646 \u0631\u0627\u0647\u200c\u062d\u0644 \u0628\u0647\u06cc\u0646\u0647 \u0628\u0631\u0627\u06cc \u0645\u0633\u0627\u0626\u0644 \u0628\u0627 \u0639\u0628\u0627\u0631\u062a \u0645\u0631\u0628\u0639<\/li>\n<\/ul>\n<p><!--kg-card-begin: html--><\/p>\n<h2 id=\"Kalman\"><span class=\"ez-toc-section\" id=\"%d9%81%db%8c%d9%84%d8%aa%d8%b1%d9%87%d8%a7%db%8c_%da%a9%d8%a7%d9%84%d9%85%d9%86_%d8%af%d8%b1_%d8%b9%d9%85%d9%84_%d8%a2%d9%85%d9%88%d8%b2%d8%b4_%da%af%d8%a7%d9%85_%d8%a8%d9%87_%da%af%d8%a7%d9%85_%da%a9%d8%af\"><\/span>\u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u062f\u0631 \u0639\u0645\u0644: \u0622\u0645\u0648\u0632\u0634 \u06af\u0627\u0645 \u0628\u0647 \u06af\u0627\u0645 \u06a9\u062f<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><!--kg-card-end: html--><\/p>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/pexels-captainsopon-3402846.jpg\" class=\"kg-image\" alt=\"pexels-captainsopon-3402846\" width=\"2000\" height=\"1311\" loading=\"lazy\" title=\"\"><figcaption>\u0639\u06a9\u0633 \u0627\u0632 capt.sopon: https:\/\/www.pexels.com\/photo\/gray-airplane-control-panel-3402846\/<\/figcaption><\/figure>\n<p>\u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0628\u0631\u0627\u06cc \u0645\u062f\u06cc\u0631\u06cc\u062a \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u062e\u0637\u06cc \u0627\u06cc\u062c\u0627\u062f \u0634\u062f\u0646\u062f &#8211; \u06cc\u0639\u0646\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc\u06cc \u06a9\u0647 \u0627\u0632 \u0627\u0644\u06af\u0648\u0647\u0627\u06cc \u0642\u0627\u0628\u0644 \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u067e\u06cc\u0631\u0648\u06cc \u0645\u06cc \u06a9\u0646\u0646\u062f.<\/p>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u0645\u062b\u0627\u0644 \u06a9\u062f\u060c \u06cc\u06a9 Extended Kalman Filter \u0631\u0627 \u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc \u0645\u06cc \u06a9\u0646\u06cc\u0645.  \u0627\u06cc\u0646 \u06af\u0648\u0646\u0647\u200c\u0627\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0645\u062f\u06cc\u0631\u06cc\u062a \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc (\u0628\u0647 \u0639\u0628\u0627\u0631\u062a \u062f\u06cc\u06af\u0631\u060c \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc\u06cc \u06a9\u0647 \u0627\u0644\u06af\u0648\u0647\u0627\u06cc \u063a\u06cc\u0631\u0642\u0627\u0628\u0644 \u067e\u06cc\u0634\u200c\u0628\u06cc\u0646\u06cc \u06cc\u0627 \u062f\u0631 \u062d\u0627\u0644 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0627\u0631\u0646\u062f) \u0627\u06cc\u062c\u0627\u062f \u0634\u062f\u0647 \u0627\u0633\u062a.<\/p>\n<p>\u0627\u06cc\u0646 \u06a9\u062f \u06a9\u0627\u0645\u0644 \u0627\u0633\u062a (\u06a9\u0647 \u062f\u0631 \u0632\u06cc\u0631 \u0628\u0647 \u0622\u0646 \u0645\u06cc \u067e\u0631\u062f\u0627\u0632\u06cc\u0645):<\/p>\n<pre><code>import numpy as np\nfrom filterpy.kalman import ExtendedKalmanFilter as EKF\nfrom filterpy.common import Q_discrete_white_noise\n\ndef fx(x, dt):\n    \"\"\" State transition function for the nonlinear system. \"\"\"\n    # Example: x' = [x[0] + x[1]*dt, x[1]]\n    F = np.array([x[0] + x[1]*dt, x[1]])\n    return F\n\ndef hx(x):\n    \"\"\" Measurement function for the nonlinear system. \"\"\"\n    # Example: z = [x[0]]\n    return np.array([x[0]])\n\ndef jacobian_F(x, dt):\n    \"\"\" Jacobian of the state transition function. \"\"\"\n    return np.array([[1, dt],\n                     [0, 1]])\n\ndef jacobian_H(x):\n    \"\"\" Jacobian of the measurement function. \"\"\"\n    return np.array([[1, 0]])\n\n# Initialize EKF\nekf = EKF(dim_x=2, dim_z=1)\n\n# Initial state\nekf.x = np.array([0, 1])\n\n# Initial state covariance\nekf.P = np.eye(2)\n\n# Process noise covariance\nekf.Q = Q_discrete_white_noise(dim=2, dt=1, var=0.1)\n\n# Measurement noise covariance\nekf.R = np.array([[0.1]])\n\n# Define the state transition and measurement functions\nekf.F = jacobian_F\nekf.H = jacobian_H\n\n# Control input\ndt = 1.0  # time step\n\n# Simulated measurements\nmeasurements = [1, 2, 3, 4, 5]\n\nfor z in measurements:\n    # Predict step\n    ekf.predict_update(z, HJacobian=jacobian_H, Hx=hx, Fx=fx, args=(dt,), hx_args=())\n\n    # Print the current state estimate\n    print(\"Estimated state:\", ekf.x)\n<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/1-2.png\" class=\"kg-image\" alt=\"1-2\" width=\"2000\" height=\"3253\" loading=\"lazy\" title=\"\"><figcaption>\u06a9\u062f \u06a9\u0627\u0645\u0644<\/figcaption><\/figure>\n<p>\u0628\u06cc\u0627\u06cc\u06cc\u062f \u0628\u0644\u0648\u06a9 \u0628\u0647 \u0628\u0644\u0648\u06a9 \u06a9\u062f \u0631\u0627 \u0628\u0628\u06cc\u0646\u06cc\u0645.<\/p>\n<h3 id=\"import-the-libraries\"><span class=\"ez-toc-section\" id=\"%d9%88%d8%a7%d8%b1%d8%af%d8%a7%d8%aa_%da%a9%d8%aa%d8%a7%d8%a8%d8%ae%d8%a7%d9%86%d9%87_%d9%87%d8%a7\"><\/span>\u0648\u0627\u0631\u062f\u0627\u062a \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0647\u0627<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code>import numpy as np\nfrom filterpy.kalman import ExtendedKalmanFilter as EKF\nfrom filterpy.common import Q_discrete_white_noise\n<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/2-2.png\" class=\"kg-image\" alt=\"2-2\" width=\"2260\" height=\"684\" loading=\"lazy\" title=\"\"><figcaption>\u0648\u0627\u0631\u062f\u0627\u062a \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0647\u0627<\/figcaption><\/figure>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u0642\u0633\u0645\u062a \u0627\u0632 \u06a9\u062f \u0645\u0627 import \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0647\u0627\u06cc \u067e\u0627\u06cc\u062a\u0648\u0646 \u06a9\u0647 \u0646\u06cc\u0627\u0632 \u062f\u0627\u0631\u06cc\u0645:<\/p>\n<ul>\n<li><strong><code>import numpy as np<\/code><\/strong>: \u0627\u06cc\u0646 \u0627\u0628\u0632\u0627\u0631 \u0627\u0628\u0632\u0627\u0631\u06cc \u0628\u0647 \u0646\u0627\u0645 NumPy \u0631\u0627 \u0648\u0627\u0631\u062f \u0645\u06cc \u06a9\u0646\u062f \u06a9\u0647 \u0628\u0647 \u0645\u0627 \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u062f \u0628\u0627 \u0627\u0639\u062f\u0627\u062f \u0648 \u0644\u06cc\u0633\u062a \u0627\u0639\u062f\u0627\u062f (\u0645\u0627\u0646\u0646\u062f \u0635\u0641\u062d\u0647 \u06af\u0633\u062a\u0631\u062f\u0647) \u06a9\u0627\u0631 \u06a9\u0646\u06cc\u0645.<\/li>\n<li><strong><code>from filterpy.kalman import ExtendedKalmanFilter as EKF<\/code><\/strong>: \u0627\u06cc\u0646 \u0627\u0628\u0632\u0627\u0631 \u0627\u0628\u0632\u0627\u0631\u06cc \u0628\u0647 \u0646\u0627\u0645 \u0631\u0627 \u0648\u0627\u0631\u062f \u0645\u06cc \u06a9\u0646\u062f <code>ExtendedKalmanFilter<\/code> \u0627\u0632 <code>filterpy<\/code> \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647  \u0645\u0627 \u0627\u0632 \u0627\u06cc\u0646 \u0627\u0628\u0632\u0627\u0631 \u0628\u0647 \u0646\u0627\u0645 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u062e\u0648\u0627\u0647\u06cc\u0645 \u06a9\u0631\u062f <code>EKF<\/code> \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627\u060c \u0628\u0631\u0627\u06cc \u0631\u062f\u06cc\u0627\u0628\u06cc \u0686\u06cc\u0632\u0647\u0627\u06cc\u06cc \u06a9\u0647 \u062f\u0631 \u0637\u0648\u0644 \u0632\u0645\u0627\u0646 \u062a\u063a\u06cc\u06cc\u0631 \u0645\u06cc \u06a9\u0646\u0646\u062f \u0628\u0647 \u0631\u0648\u0634\u06cc \u06a9\u0647 \u0633\u0627\u062f\u0647 \u0646\u06cc\u0633\u062a.<\/li>\n<li><strong><code>from filterpy.common import Q_discrete_white_noise<\/code><\/strong>: \u0627\u06cc\u0646 \u062a\u0627\u0628\u0639\u06cc \u0631\u0627 \u0648\u0627\u0631\u062f \u0645\u06cc \u06a9\u0646\u062f \u06a9\u0647 \u0628\u0647 \u0645\u0627 \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u062f \u0646\u0648\u06cc\u0632 \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u0645\u060c \u06a9\u0647 \u0645\u0627\u0646\u0646\u062f &#8220;\u0641\u0627\u0632\u06cc&#8221; \u06cc\u0627 \u0639\u062f\u0645 \u0642\u0637\u0639\u06cc\u062a \u0637\u0628\u06cc\u0639\u06cc \u062f\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0645\u0627 \u0627\u0633\u062a.<\/li>\n<\/ul>\n<h3 id=\"define-how-the-system-works\"><span class=\"ez-toc-section\" id=\"%d8%b1%d9%88%d8%b4_%d8%b9%d9%85%d9%84%da%a9%d8%b1%d8%af_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d8%b1%d8%a7_%d8%aa%d8%b9%d8%b1%db%8c%d9%81_%da%a9%d9%86%db%8c%d8%af\"><\/span>\u0631\u0648\u0634 \u0639\u0645\u0644\u06a9\u0631\u062f \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062a\u0639\u0631\u06cc\u0641 \u06a9\u0646\u06cc\u062f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code>def fx(x, dt):\n    \"\"\" State transition function for the nonlinear system. \"\"\"\n    # Example: x' = [x[0] + x[1]*dt, x[1]]\n    return np.array([x[0] + x[1]*dt, x[1]])\n\ndef hx(x):\n    \"\"\" Measurement function for the nonlinear system. \"\"\"\n    # Example: z = [x[0]]\n    return np.array([x[0]])<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/3-3.png\" class=\"kg-image\" alt=\"3-3\" width=\"2548\" height=\"1224\" loading=\"lazy\" title=\"\"><figcaption>\u0631\u0648\u0634 \u0639\u0645\u0644\u06a9\u0631\u062f \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062a\u0639\u0631\u06cc\u0641 \u06a9\u0646\u06cc\u062f<\/figcaption><\/figure>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u06a9\u062f \u0631\u0648\u0634 \u0639\u0645\u0644\u06a9\u0631\u062f \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062a\u0639\u0631\u06cc\u0641 \u0645\u06cc \u06a9\u0646\u06cc\u0645:<\/p>\n<ul>\n<li><strong><code>fx(x, dt)<\/code><\/strong>: \u0627\u06cc\u0646 \u062a\u0627\u0628\u0639 \u0631\u0648\u0634 \u062a\u063a\u06cc\u06cc\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0645\u0627 \u062f\u0631 \u0637\u0648\u0644 \u0632\u0645\u0627\u0646 \u0631\u0627 \u062a\u0648\u0636\u06cc\u062d \u0645\u06cc \u062f\u0647\u062f.  \u0645\u06cc \u06af\u0648\u06cc\u062f \u0645\u0648\u0642\u0639\u06cc\u062a \u062c\u062f\u06cc\u062f \u0645\u0648\u0642\u0639\u06cc\u062a \u0642\u062f\u06cc\u0645\u06cc \u0628\u0647 \u0627\u0636\u0627\u0641\u0647 \u0632\u0645\u0627\u0646 \u0633\u0631\u0639\u062a \u0627\u0633\u062a (<code>x[0] + x[1]*dt<\/code>).  \u0633\u0631\u0639\u062a (<code>x[1]<\/code>) \u062b\u0627\u0628\u062a \u0645\u06cc \u0645\u0627\u0646\u062f.<\/li>\n<li><strong><code>hx(x)<\/code><\/strong>: \u0627\u06cc\u0646 \u062a\u0627\u0628\u0639 \u0628\u0647 \u0645\u0627 \u0645\u06cc \u06af\u0648\u06cc\u062f \u06a9\u0647 \u0686\u0647 \u0686\u06cc\u0632\u06cc \u0631\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u0627\u0632 \u0633\u06cc\u0633\u062a\u0645 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u06a9\u0646\u06cc\u0645.  \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627\u060c \u0645\u06cc \u06af\u0648\u06cc\u062f \u0645\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u0645\u0648\u0642\u0639\u06cc\u062a \u0631\u0627 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u06a9\u0646\u06cc\u0645 (<code>x[0]<\/code>).<\/li>\n<\/ul>\n<h3 id=\"define-how-changes-affect-the-system\"><span class=\"ez-toc-section\" id=\"%d8%aa%d8%b9%d8%b1%db%8c%d9%81_%da%a9%d9%86%db%8c%d8%af_%da%a9%d9%87_%d8%aa%d8%ba%db%8c%db%8c%d8%b1%d8%a7%d8%aa_%da%86%da%af%d9%88%d9%86%d9%87_%d8%a8%d8%b1_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d8%aa%d8%a3%d8%ab%db%8c%d8%b1_%d9%85%db%8c_%da%af%d8%b0%d8%a7%d8%b1%d8%af\"><\/span>\u062a\u0639\u0631\u06cc\u0641 \u06a9\u0646\u06cc\u062f \u06a9\u0647 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0686\u06af\u0648\u0646\u0647 \u0628\u0631 \u0633\u06cc\u0633\u062a\u0645 \u062a\u0623\u062b\u06cc\u0631 \u0645\u06cc \u06af\u0630\u0627\u0631\u062f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code>def jacobian_F(x, dt):\n    \"\"\" Jacobian of the state transition function. \"\"\"\n    return np.array([[1, dt],\n                     [0, 1]])\n\ndef jacobian_H(x):\n    \"\"\" Jacobian of the measurement function. \"\"\"\n    return np.array([[1, 0]])<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/4-2.png\" class=\"kg-image\" alt=\"4-2\" width=\"2220\" height=\"1132\" loading=\"lazy\" title=\"\"><figcaption>\u0631\u0648\u0634 \u0639\u0645\u0644\u06a9\u0631\u062f \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062a\u0639\u0631\u06cc\u0641 \u06a9\u0646\u06cc\u062f<\/figcaption><\/figure>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u06a9\u062f \u0631\u0648\u0634 \u062a\u0623\u062b\u06cc\u0631 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0628\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062a\u0639\u0631\u06cc\u0641 \u0645\u06cc \u06a9\u0646\u06cc\u0645:<\/p>\n<ul>\n<li><strong><code>jacobian_F(x, dt)<\/code><\/strong>: \u0627\u06cc\u0646 \u062a\u0627\u0628\u0639 \u0628\u0647 \u0645\u0627 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f \u06a9\u0647 \u0633\u06cc\u0633\u062a\u0645 \u0686\u0642\u062f\u0631 \u0646\u0633\u0628\u062a \u0628\u0647 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0632\u0645\u0627\u0646 \u0648 \u0645\u0648\u0642\u0639\u06cc\u062a \u062d\u0633\u0627\u0633 \u0627\u0633\u062a.  \u0627\u06cc\u0646 \u0628\u0647 \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u062f \u062a\u0627 \u0628\u0627 \u062f\u0631 \u0646\u0638\u0631 \u06af\u0631\u0641\u062a\u0646 \u0627\u06cc\u0646 \u062d\u0633\u0627\u0633\u06cc\u062a \u0647\u0627 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0631\u0627 \u0628\u0627 \u062f\u0642\u062a \u0628\u06cc\u0634\u062a\u0631\u06cc \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u06a9\u0646\u062f.<\/li>\n<li><strong><code>jacobian_H(x)<\/code><\/strong>: \u0627\u06cc\u0646 \u062a\u0627\u0628\u0639 \u0628\u0647 \u0645\u0627 \u0645\u06cc \u06af\u0648\u06cc\u062f \u06a9\u0647 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u0645\u0627 \u0686\u0642\u062f\u0631 \u0646\u0633\u0628\u062a \u0628\u0647 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0645\u0648\u0642\u0639\u06cc\u062a \u062d\u0633\u0627\u0633 \u0627\u0633\u062a.  \u0627\u06cc\u0646 \u0628\u0647 \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u062f \u062a\u0627 \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u0631\u0627 \u0628\u0631\u0627\u0633\u0627\u0633 \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u062f \u0631\u0648\u06cc \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u0647\u0627\u06cc \u062c\u062f\u06cc\u062f<\/li>\n<\/ul>\n<h3 id=\"set-up-the-kalman-filter\"><span class=\"ez-toc-section\" id=\"%d9%81%db%8c%d9%84%d8%aa%d8%b1_%da%a9%d8%a7%d9%84%d9%85%d9%86_%d8%b1%d8%a7_%d8%aa%d9%86%d8%b8%db%8c%d9%85_%da%a9%d9%86%db%8c%d8%af\"><\/span>\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code># Initialize EKF\nekf = EKF(dim_x=2, dim_z=1)\n\n# Initial state\nekf.x = np.array([0, 1])\nprint(\"Initial state:\", ekf.x)\n\n# Initial state covariance\nekf.P = np.eye(2)\nprint(\"Initial state covariance:\\n\", ekf.P)<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/5-2.png\" class=\"kg-image\" alt=\"5-2\" width=\"2080\" height=\"1312\" loading=\"lazy\" title=\"\"><figcaption>\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f<\/figcaption><\/figure>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u0642\u0633\u0645\u062a \u0627\u0632 \u06a9\u062f \u06cc\u06a9 \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0628\u0633\u06cc\u0627\u0631 \u0633\u0627\u062f\u0647 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u06cc\u0645:<\/p>\n<ul>\n<li><strong><code>ekf = EKF(dim_x=2, dim_z=1)<\/code><\/strong>: \u0627\u06cc\u0646 \u06cc\u06a9 \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u062a\u0648\u0633\u0639\u0647 \u06cc\u0627\u0641\u062a\u0647 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u062f \u06a9\u0647 \u062f\u0648 \u0686\u06cc\u0632 (\u0645\u0648\u0642\u0639\u06cc\u062a \u0648 \u0633\u0631\u0639\u062a) \u0648 \u06cc\u06a9 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc (\u0645\u0648\u0642\u0639\u06cc\u062a) \u0631\u0627 \u0631\u062f\u06cc\u0627\u0628\u06cc \u0645\u06cc \u06a9\u0646\u062f.<\/li>\n<li><strong><code>ekf.x = np.array([0, 1])<\/code><\/strong>: \u0627\u06cc\u0646 \u0645\u0648\u0642\u0639\u06cc\u062a \u0634\u0631\u0648\u0639 \u0631\u0627 \u0628\u0631 \u0631\u0648\u06cc \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u062f <code>0<\/code> \u0648 \u0633\u0631\u0639\u062a \u0628\u0647 <code>1<\/code>.<\/li>\n<\/ul>\n<p>\u0686\u0627\u067e \u0645\u06cc \u06a9\u0646\u062f:<\/p>\n<pre><code>Initial state: [0 1]<\/code><\/pre>\n<ul>\n<li><strong><code>ekf.P = np.eye(2)<\/code><\/strong>: \u0627\u06cc\u0646 \u0631\u0627\u0647\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0645\u06cc \u06af\u0648\u06cc\u06cc\u0645 \u0645\u0627 \u062f\u0631 \u0645\u0648\u0631\u062f \u062d\u062f\u0633 \u0647\u0627\u06cc \u0627\u0648\u0644\u06cc\u0647 \u062e\u0648\u062f \u0645\u0637\u0645\u0626\u0646 \u0646\u06cc\u0633\u062a\u06cc\u0645.  \u0645\u062b\u0644 \u0627\u06cc\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0628\u06af\u0648\u06cc\u06cc\u0645 \u00ab\u0627\u0632 \u0627\u06cc\u0646\u062c\u0627 \u0634\u0631\u0648\u0639 \u06a9\u0646\u06cc\u0645\u060c \u0627\u0645\u0627 \u0645\u0627 \u0622\u0645\u0627\u062f\u0647 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0647\u0633\u062a\u06cc\u0645\u00bb.<\/li>\n<\/ul>\n<p>\u0686\u0627\u067e \u0645\u06cc \u06a9\u0646\u062f:<\/p>\n<pre><code>Initial state covariance:\n [[1. 0.]\n [0. 1.]]<\/code><\/pre>\n<h3 id=\"describe-uncertainty-in-the-system\"><span class=\"ez-toc-section\" id=\"%d8%b9%d8%af%d9%85_%d9%82%d8%b7%d8%b9%db%8c%d8%aa_%d8%af%d8%b1_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d8%b1%d8%a7_%d8%b4%d8%b1%d8%ad_%d8%af%d9%87%db%8c%d8%af\"><\/span>\u0639\u062f\u0645 \u0642\u0637\u0639\u06cc\u062a \u062f\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0634\u0631\u062d \u062f\u0647\u06cc\u062f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code># Process noise covariance\nekf.Q = Q_discrete_white_noise(dim=2, dt=1, var=0.1)\nprint(\"Process noise covariance:\\n\", ekf.Q)\n\n# Measurement noise covariance\nekf.R = np.array([[0.1]])\nprint(\"Measurement noise covariance:\\n\", ekf.R)<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/6-2.png\" class=\"kg-image\" alt=\"6-2\" width=\"2148\" height=\"1044\" loading=\"lazy\" title=\"\"><figcaption>\u0639\u062f\u0645 \u0642\u0637\u0639\u06cc\u062a \u062f\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0634\u0631\u062d \u062f\u0647\u06cc\u062f<\/figcaption><\/figure>\n<ul>\n<li><strong><code>ekf.Q = Q_discrete_white_noise(dim=2, dt=1, var=0.1)<\/code><\/strong>: \u0627\u06cc\u0646 \u0645\u0642\u062f\u0627\u0631 \u062a\u0635\u0627\u062f\u0641\u06cc \u06cc\u0627 \u063a\u06cc\u0631\u0642\u0627\u0628\u0644 \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u0628\u0648\u062f\u0646 \u0645\u0627 \u062f\u0631 \u062e\u0648\u062f \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062a\u0639\u06cc\u06cc\u0646 \u0645\u06cc \u06a9\u0646\u062f.  \u0645\u062b\u0644 \u0627\u06cc\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0628\u06af\u0648\u06cc\u06cc\u0645 &#8220;\u0634\u0627\u06cc\u062f \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u062f\u0642\u06cc\u0642\u0627\u064b \u0622\u0646\u0637\u0648\u0631 \u06a9\u0647 \u0641\u06a9\u0631 \u0645\u06cc \u06a9\u0646\u06cc\u0645 \u062d\u0631\u06a9\u062a \u0646\u06a9\u0646\u0646\u062f.&#8221;<\/li>\n<\/ul>\n<p>\u0686\u0627\u067e \u0645\u06cc \u06a9\u0646\u062f:<\/p>\n<pre><code>Process noise covariance:\n [[0.025 0.05 ]\n [0.05  0.1  ]]<\/code><\/pre>\n<ul>\n<li><strong><code>ekf.R = np.array([[0.1]])<\/code><\/strong>: \u0627\u06cc\u0646 \u062a\u0639\u06cc\u06cc\u0646 \u0645\u06cc \u06a9\u0646\u062f \u06a9\u0647 \u0686\u0642\u062f\u0631 \u0628\u0647 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u0647\u0627\u06cc \u062e\u0648\u062f \u0627\u0639\u062a\u0645\u0627\u062f \u062f\u0627\u0631\u06cc\u0645.  \u062a\u0639\u062f\u0627\u062f \u06a9\u0645\u062a\u0631 \u0628\u0647 \u0627\u06cc\u0646 \u0645\u0639\u0646\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0645\u0627 \u0628\u06cc\u0634\u062a\u0631 \u0628\u0647 \u0622\u0646\u0647\u0627 \u0627\u0639\u062a\u0645\u0627\u062f \u062f\u0627\u0631\u06cc\u0645.<\/li>\n<\/ul>\n<pre><code>Measurement noise covariance:\n [[0.1]]<\/code><\/pre>\n<h3 id=\"simulate-data-and-initial-state\"><span class=\"ez-toc-section\" id=\"%d8%b4%d8%a8%db%8c%d9%87_%d8%b3%d8%a7%d8%b2%db%8c_%d8%af%d8%a7%d8%af%d9%87_%d9%87%d8%a7_%d9%88_%d8%ad%d8%a7%d9%84%d8%aa_%d8%a7%d9%88%d9%84%db%8c%d9%87\"><\/span>\u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u062f\u0627\u062f\u0647 \u0647\u0627 \u0648 \u062d\u0627\u0644\u062a \u0627\u0648\u0644\u06cc\u0647<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code># Control input\ndt = 1.0  # time step\n\n# Simulated measurements\nmeasurements = [1, 2, 3, 4, 5]\n\n# True initial state for comparison (not used in the EKF)\ntrue_state = np.array([0, 1])\nprint(\"\\nTrue initial state:\", true_state)\n<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/7-2.png\" class=\"kg-image\" alt=\"7-2\" width=\"2332\" height=\"1312\" loading=\"lazy\" title=\"\"><figcaption>\u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u062f\u0627\u062f\u0647 \u0647\u0627 \u0648 \u062d\u0627\u0644\u062a \u0627\u0648\u0644\u06cc\u0647<\/figcaption><\/figure>\n<ul>\n<li><strong><code>dt = 1.0<\/code><\/strong>: \u0627\u06cc\u0646 \u0632\u0645\u0627\u0646 \u0628\u06cc\u0646 \u0647\u0631 \u0645\u0631\u062d\u0644\u0647 \u0627\u0632 \u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u0645\u0627 \u0627\u0633\u062a.<\/li>\n<li><strong><code>measurements = [1, 2, 3, 4, 5]<\/code><\/strong>: \u0627\u06cc\u0646\u0647\u0627 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u0647\u0627\u06cc \u0648\u0627\u0646\u0645\u0648\u062f\u06cc \u0647\u0633\u062a\u0646\u062f \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0622\u0632\u0645\u0627\u06cc\u0634 \u0641\u06cc\u0644\u062a\u0631 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u062e\u0648\u0627\u0647\u06cc\u0645 \u06a9\u0631\u062f.<\/li>\n<li><strong><code>true_state = np.array([0, 1])<\/code><\/strong>: \u0627\u06cc\u0646 \u0645\u0648\u0642\u0639\u06cc\u062a \u0634\u0631\u0648\u0639 \u0648\u0627\u0642\u0639\u06cc \u0648 \u0633\u0631\u0639\u062a \u0633\u06cc\u0633\u062a\u0645 \u0645\u0627 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0645\u0642\u0627\u06cc\u0633\u0647 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f.<\/li>\n<\/ul>\n<p>\u0645\u06cc \u062f\u0647\u062f:<\/p>\n<pre><code>True initial state: [0 1]<\/code><\/pre>\n<h3 id=\"simulate-real-system-changes\"><span class=\"ez-toc-section\" id=\"%d8%b4%d8%a8%db%8c%d9%87_%d8%b3%d8%a7%d8%b2%db%8c_%d8%aa%d8%ba%db%8c%db%8c%d8%b1%d8%a7%d8%aa_%d9%88%d8%a7%d9%82%d8%b9%db%8c_%d8%b3%db%8c%d8%b3%d8%aa%d9%85\"><\/span>\u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0648\u0627\u0642\u0639\u06cc \u0633\u06cc\u0633\u062a\u0645<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code># Simulate the true state evolution (for comparison)\ntrue_states = [true_state[0]]\nfor _ in range(len(measurements) - 1):\n    true_state = fx(true_state, dt)\n    true_states.append(true_state[0])\n\nprint(\"\\nSimulated true states (for reference):\", true_states)<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/8-1.png\" class=\"kg-image\" alt=\"8-1\" width=\"2548\" height=\"1044\" loading=\"lazy\" title=\"\"><figcaption>\u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0648\u0627\u0642\u0639\u06cc \u0633\u06cc\u0633\u062a\u0645<\/figcaption><\/figure>\n<ul>\n<li><strong>\u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u062d\u0627\u0644\u062a \u0647\u0627\u06cc \u0648\u0627\u0642\u0639\u06cc<\/strong>: \u0627\u06cc\u0646 \u0642\u0633\u0645\u062a \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0631\u0648\u0634 \u06a9\u0627\u0631 \u0633\u06cc\u0633\u062a\u0645\u060c \u0645\u0648\u0642\u0639\u06cc\u062a \u0648\u0627\u0642\u0639\u06cc \u0631\u0627 \u062f\u0631 \u0637\u0648\u0644 \u0632\u0645\u0627\u0646 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc \u06a9\u0646\u062f (<code>fx<\/code>).  \u0627\u06cc\u0646 \u0645\u0627\u0646\u0646\u062f \u062f\u0627\u0634\u062a\u0646 \u06cc\u06a9 GPS \u06a9\u0627\u0645\u0644 \u0628\u0631\u0627\u06cc \u0628\u0631\u0631\u0633\u06cc \u062f\u0631 \u0628\u0631\u0627\u0628\u0631 \u0628\u0631\u0622\u0648\u0631\u062f\u0647\u0627\u06cc \u0645\u0627 \u0627\u0633\u062a.<\/li>\n<\/ul>\n<pre><code>Simulated true states (for reference): [0, 1.0, 2.0, 3.0, 4.0]\n<\/code><\/pre>\n<h3 id=\"filter-steps-to-estimate-the-state\"><span class=\"ez-toc-section\" id=\"%d9%81%db%8c%d9%84%d8%aa%d8%b1_%d9%85%d8%b1%d8%a7%d8%ad%d9%84_%d8%a8%d8%b1%d8%a7%db%8c_%d8%aa%d8%ae%d9%85%db%8c%d9%86_%d9%88%d8%b6%d8%b9%db%8c%d8%aa\"><\/span>\u0641\u06cc\u0644\u062a\u0631 \u0645\u0631\u0627\u062d\u0644 \u0628\u0631\u0627\u06cc \u062a\u062e\u0645\u06cc\u0646 \u0648\u0636\u0639\u06cc\u062a<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code>for i, z in enumerate(measurements):\n    print(f\"\\nStep {i+1}:\")\n    print(\"Measurement:\", z)\n\n    # Predict step\n    ekf.predict(u=0)  # Use predict_x if you need to customize the prediction\n    print(\"Predicted state before update:\", ekf.x)\n\n    # Update step\n    ekf.update(z, HJacobian=jacobian_H, Hx=hx, args=(), hx_args=())\n    print(\"Updated state after measurement:\", ekf.x)\n    print(\"State covariance after update:\\n\", ekf.P)\n<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/9.png\" class=\"kg-image\" alt=\"9\" width=\"3060\" height=\"1584\" loading=\"lazy\" title=\"\"><figcaption>\u0641\u06cc\u0644\u062a\u0631 \u0645\u0631\u0627\u062d\u0644 \u0628\u0631\u0627\u06cc \u062a\u062e\u0645\u06cc\u0646 \u0648\u0636\u0639\u06cc\u062a<\/figcaption><\/figure>\n<p><strong>\u062d\u0644\u0642\u0647 \u0627\u0632 \u0637\u0631\u06cc\u0642 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc<\/strong>: \u0627\u06cc\u0646 \u062d\u0644\u0642\u0647 \u0647\u0631 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u062c\u0639\u0644\u06cc \u0631\u0627 \u06cc\u06a9\u06cc \u06cc\u06a9\u06cc \u0637\u06cc \u0645\u06cc \u06a9\u0646\u062f.<\/p>\n<ul>\n<li><strong>\u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u0645\u0631\u062d\u0644\u0647 (<code>ekf.predict(u=0)<\/code>)<\/strong>: \u0642\u0628\u0644 \u0627\u0632 \u0627\u06cc\u0646\u06a9\u0647 \u0628\u0647 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u062c\u062f\u06cc\u062f \u0646\u06af\u0627\u0647 \u06a9\u0646\u06cc\u062f\u060c \u0641\u06cc\u0644\u062a\u0631 \u062d\u062f\u0633 \u0645\u06cc \u0632\u0646\u062f \u06a9\u0647 \u0627\u06a9\u0646\u0648\u0646 \u0645\u0648\u0642\u0639\u06cc\u062a \u0648 \u0633\u0631\u0639\u062a \u06a9\u062c\u0627\u0633\u062a.<\/li>\n<li><strong>\u0645\u0631\u062d\u0644\u0647 \u0628\u0647 \u0631\u0648\u0632 \u0631\u0633\u0627\u0646\u06cc (<code>ekf.update<\/code>)<\/strong>: \u067e\u0633 \u0627\u0632 \u062d\u062f\u0633 \u0632\u062f\u0646\u060c \u0641\u06cc\u0644\u062a\u0631 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u062c\u062f\u06cc\u062f \u0631\u0627 \u0645\u06cc \u0628\u06cc\u0646\u062f \u0648 \u062d\u062f\u0633 \u062e\u0648\u062f \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u062f \u062a\u0627 \u0628\u0647 \u0627\u06cc\u0646 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u0646\u0632\u062f\u06cc\u06a9\u062a\u0631 \u0634\u0648\u062f \u0648 \u0627\u0637\u0644\u0627\u0639\u0627\u062a \u062c\u062f\u06cc\u062f \u0631\u0627 \u0628\u0627 \u0622\u0646\u0686\u0647 \u0642\u0628\u0644\u0627\u064b \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u06a9\u0631\u062f\u0647 \u0628\u0648\u062f \u0645\u062a\u0639\u0627\u062f\u0644 \u06a9\u0646\u062f.<\/li>\n<\/ul>\n<p>\u062f\u0631 \u0627\u06cc\u0646\u062c\u0627 \u0646\u062a\u0627\u06cc\u062c \u0622\u0645\u062f\u0647 \u0627\u0633\u062a:<\/p>\n<pre><code>Step 1:\nMeasurement: 1\nPredicted state before update: [0. 1.]\nUpdated state after measurement: [0.91111111 1.04444444]\nState covariance after update:\n [[0.09111111 0.00444444]\n [0.00444444 1.09777778]]\n\nStep 2:\nMeasurement: 2\nPredicted state before update: [0.91111111 1.04444444]\nUpdated state after measurement: [1.49614396 1.31876607]\nState covariance after update:\n [[0.05372751 0.0251928 ]\n [0.0251928  1.1840617 ]]\n\nStep 3:\nMeasurement: 3\nPredicted state before update: [1.49614396 1.31876607]\nUpdated state after measurement: [2.15857605 1.95145631]\nState covariance after update:\n [[0.0440489  0.0420712 ]\n [0.0420712  1.25242718]]\n\nStep 4:\nMeasurement: 4\nPredicted state before update: [2.15857605 1.95145631]\nUpdated state after measurement: [2.91071524 2.95437384]\nState covariance after update:\n [[0.04084552 0.05446424]\n [0.05446424 1.30228131]]\n\nStep 5:\nMeasurement: 5\nPredicted state before update: [2.91071524 2.95437384]\nUpdated state after measurement: [3.74022237 4.27039095]\nState covariance after update:\n [[0.03970292 0.06298888]\n [0.06298888 1.33648045]]<\/code><\/pre>\n<p><!--kg-card-begin: html--><\/p>\n<h2 id=\"Beyond\"><span class=\"ez-toc-section\" id=\"%d9%86%d8%aa%db%8c%d8%ac%d9%87_%da%af%db%8c%d8%b1%db%8c_%d9%be%db%8c%d9%85%d8%a7%db%8c%d8%b4_%d8%af%d8%a7%d8%af%d9%87_%d9%87%d8%a7%db%8c_%d8%ba%db%8c%d8%b1%d8%ae%d8%b7%db%8c_%d8%a8%d8%a7_%d8%aa%da%a9%d9%86%db%8c%da%a9_%d9%87%d8%a7%db%8c_%d9%be%db%8c%d8%b4%d8%b1%d9%81%d8%aa%d9%87\"><\/span>\u0646\u062a\u06cc\u062c\u0647 \u06af\u06cc\u0631\u06cc: \u067e\u06cc\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc \u0628\u0627 \u062a\u06a9\u0646\u06cc\u06a9 \u0647\u0627\u06cc \u067e\u06cc\u0634\u0631\u0641\u062a\u0647<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><!--kg-card-end: html--><\/p>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/pexels-noellegracephotos-906055.jpg\" class=\"kg-image\" alt=\"pexels-noellegracephotos-906055\" width=\"2000\" height=\"1331\" loading=\"lazy\" title=\"\"><figcaption>\u0639\u06a9\u0633 \u0646\u0648\u0626\u0644 \u0627\u062a\u0648 \u0631\u0648\u06cc \u067e\u06cc\u06a9\u0633\u0644 \u0647\u0627<\/figcaption><\/figure>\n<p>\u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0627\u0628\u0632\u0627\u0631\u06cc \u0642\u062f\u0631\u062a\u0645\u0646\u062f \u0628\u0631\u0627\u06cc \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u062a\u062e\u0645\u06cc\u0646 \u0647\u0627\u06cc \u062f\u0642\u06cc\u0642 \u0627\u0632 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u067e\u0631 \u0633\u0631 \u0648 \u0635\u062f\u0627 \u0648 \u0646\u0627\u0642\u0635 \u0627\u0633\u062a. <\/p>\n<p>\u0627\u0646\u0648\u0627\u0639 \u0645\u062e\u062a\u0644\u0641\u06cc \u0645\u0627\u0646\u0646\u062f Extended Kalman Filter (EKF) \u0648 Unscented Kalman Filter (UKF) \u0628\u0631\u0627\u06cc \u0631\u0633\u06cc\u062f\u06af\u06cc \u0628\u0647 \u063a\u06cc\u0631 \u062e\u0637\u06cc \u0628\u0648\u062f\u0646 \u062f\u0627\u062f\u0647 \u0647\u0627 \u062a\u0648\u0633\u0639\u0647 \u06cc\u0627\u0641\u062a\u0647 \u0627\u0646\u062f. <\/p>\n<p>\u0628\u0627 \u0627\u06cc\u0646 \u062d\u0627\u0644\u060c \u0627\u06cc\u0646 \u06af\u0648\u0646\u0647\u200c\u0647\u0627 \u0647\u0646\u0648\u0632 \u0647\u0645 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u0646\u062f \u0628\u0627 \u0686\u0627\u0644\u0634\u200c\u0647\u0627\u06cc \u0645\u0631\u0628\u0648\u0637 \u0628\u0647 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc \u0648 \u062f\u0642\u062a \u062f\u0631 \u0647\u0646\u06af\u0627\u0645 \u0627\u0639\u0645\u0627\u0644 \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0645\u0648\u0627\u062c\u0647 \u0634\u0648\u0646\u062f. <\/p>\n<p>\u0627\u06cc\u0646 \u0628\u0647 \u062f\u0644\u06cc\u0644 \u0627\u0639\u062a\u0645\u0627\u062f \u0622\u0646\u0647\u0627\u0633\u062a \u0631\u0648\u06cc \u062a\u0642\u0631\u06cc\u0628 \u0647\u0627\u06cc \u062e\u0637\u06cc\u060c \u06a9\u0647 \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u06a9\u0627\u0645\u0644 \u0641\u0631\u0622\u06cc\u0646\u062f\u0647\u0627\u06cc \u0628\u0633\u06cc\u0627\u0631 \u063a\u06cc\u0631\u062e\u0637\u06cc \u0631\u0627 \u0646\u0634\u0627\u0646 \u0646\u062f\u0647\u0646\u062f.<\/p>\n<p>\u0628\u0631\u0627\u06cc \u063a\u0644\u0628\u0647 \u0628\u0631 \u0627\u06cc\u0646 \u0645\u062d\u062f\u0648\u062f\u06cc\u062a\u200c\u0647\u0627\u060c \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 \u0645\u0627\u0646\u0646\u062f \u0631\u0648\u06cc\u06a9\u0631\u062f\u0647\u0627\u06cc \u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u0634\u0628\u06a9\u0647 \u0639\u0635\u0628\u06cc \u0645\u0648\u0631\u062f \u062a\u0648\u062c\u0647 \u0642\u0631\u0627\u0631 \u06af\u0631\u0641\u062a\u0647\u200c\u0627\u0646\u062f. <\/p>\n<p>\u0634\u0628\u06a9\u0647\u200c\u0647\u0627\u06cc \u0639\u0635\u0628\u06cc \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u0646\u062f \u0627\u0644\u06af\u0648\u0647\u0627\u06cc \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0631\u0627 \u0645\u0633\u062a\u0642\u06cc\u0645\u0627\u064b \u0627\u0632 \u062f\u0627\u062f\u0647\u200c\u0647\u0627 \u06cc\u0627\u062f \u0628\u06af\u06cc\u0631\u0646\u062f \u0648 \u0631\u0627\u0647\u200c\u062d\u0644\u06cc \u0642\u0648\u06cc \u0628\u0631\u0627\u06cc \u0633\u0646\u0627\u0631\u06cc\u0648\u0647\u0627\u06cc \u0628\u0633\u06cc\u0627\u0631 \u063a\u06cc\u0631\u062e\u0637\u06cc \u0627\u0631\u0627\u0626\u0647 \u062f\u0647\u0646\u062f.<\/p>\n<p>\u0639\u0644\u06cc\u0631\u063a\u0645 \u0627\u06cc\u0646 \u067e\u06cc\u0634\u0631\u0641\u062a \u0647\u0627\u060c \u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0628\u0647 \u062f\u0644\u06cc\u0644 \u0633\u0627\u062f\u06af\u06cc\u060c \u06a9\u0627\u0631\u0627\u06cc\u06cc \u0648 \u06a9\u0627\u0631\u0627\u06cc\u06cc \u062f\u0631 \u0637\u06cc\u0641 \u0648\u0633\u06cc\u0639\u06cc \u0627\u0632 \u06a9\u0627\u0631\u0628\u0631\u062f\u0647\u0627\u060c \u0627\u0628\u0632\u0627\u0631 \u0645\u0647\u0645\u06cc \u062f\u0631 \u0632\u0645\u06cc\u0646\u0647 \u0647\u0627\u06cc \u0645\u062e\u062a\u0644\u0641 \u0639\u0644\u0645 \u0648 \u0627\u0642\u062a\u0635\u0627\u062f \u0647\u0633\u062a\u0646\u062f. <\/p>\n<p>\u0647\u0645\u0627\u0646\u0637\u0648\u0631 \u06a9\u0647 \u062a\u06a9\u0646\u0648\u0644\u0648\u0698\u06cc \u0628\u0647 \u062a\u06a9\u0627\u0645\u0644 \u062e\u0648\u062f \u0627\u062f\u0627\u0645\u0647 \u0645\u06cc\u200c\u062f\u0647\u062f\u060c \u0627\u062f\u063a\u0627\u0645 \u0641\u06cc\u0644\u062a\u0631\u0647\u0627\u06cc \u06a9\u0627\u0644\u0645\u0646 \u0628\u0627 \u0633\u0627\u06cc\u0631 \u062a\u06a9\u0646\u06cc\u06a9\u200c\u0647\u0627\u06cc \u067e\u06cc\u0634\u0631\u0641\u062a\u0647 \u0627\u062d\u062a\u0645\u0627\u0644\u0627\u064b \u062a\u0648\u0627\u0646\u0627\u06cc\u06cc \u0622\u0646\u200c\u0647\u0627 \u0631\u0627 \u0628\u0631\u0627\u06cc \u0647\u062f\u0627\u06cc\u062a \u0686\u0627\u0644\u0634\u200c\u0647\u0627\u06cc \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc \u0645\u0648\u062b\u0631\u062a\u0631 \u0627\u0641\u0632\u0627\u06cc\u0634 \u0645\u06cc\u200c\u062f\u0647\u062f.<\/p>\n<p>\u0627\u06cc\u0646\u0645 \u06a9\u062f \u06a9\u0627\u0645\u0644:<\/p>\n<figure class=\"kg-card kg-bookmark-card\">\n<div class=\"kg-bookmark-content\">\n<div class=\"kg-bookmark-title\">GitHub &#8211; tiagomonteiro0715\/freecodecamp-my-articles-source-code: \u0627\u06cc\u0646 \u0645\u062e\u0632\u0646 \u06a9\u062f\u06cc \u0631\u0627 \u06a9\u0647 \u0645\u0646 \u062f\u0631 \u0645\u0642\u0627\u0644\u0647\u200c\u0647\u0627\u06cc \u062e\u0628\u0631\u06cc freecodecamo \u062e\u0648\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u0645 \u062f\u0631 \u062e\u0648\u062f \u0646\u06af\u0647 \u0645\u06cc\u200c\u062f\u0627\u0631\u062f.<\/div>\n<div class=\"kg-bookmark-description\">\u0627\u06cc\u0646 \u0645\u062e\u0632\u0646 \u06a9\u062f\u06cc \u0631\u0627 \u06a9\u0647 \u062f\u0631 \u0645\u0642\u0627\u0644\u0647\u200c\u0647\u0627\u06cc \u062e\u0628\u0631\u06cc freecodecamo \u062e\u0648\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u0645\u060c \u0646\u06af\u0647 \u0645\u06cc\u200c\u062f\u0627\u0631\u062f.  &#8211; tiagomonteiro0715\/freecodecamp-my-articles-source-code<\/div>\n<div class=\"kg-bookmark-metadata\"><span class=\"kg-bookmark-author\">tiagomonteiro0715<\/span><span class=\"kg-bookmark-publisher\">GitHub<\/span><\/div>\n<\/div>\n<div class=\"kg-bookmark-thumbnail\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/1723050799_311_freecodecamp-my-articles-source-code.png\" width=\"1200\" height=\"600\" alt=\"freecodecamp-my-articles-source-code\" loading=\"lazy\" title=\"\"><\/div>\n<\/figure>\n<\/section>\n<p><br \/>\n<br \/>\u0645\u0646\u062a\u0634\u0631 \u0634\u062f\u0647 \u062f\u0631 1403-08-07 20:43:07<br \/>\n<\/p>\n\n\n<div class=\"kk-star-ratings kksr-auto kksr-align-center kksr-valign-bottom\"\n    data-payload='{&quot;align&quot;:&quot;center&quot;,&quot;id&quot;:&quot;17710&quot;,&quot;slug&quot;:&quot;default&quot;,&quot;valign&quot;:&quot;bottom&quot;,&quot;ignore&quot;:&quot;&quot;,&quot;reference&quot;:&quot;auto&quot;,&quot;class&quot;:&quot;&quot;,&quot;count&quot;:&quot;0&quot;,&quot;legendonly&quot;:&quot;&quot;,&quot;readonly&quot;:&quot;&quot;,&quot;score&quot;:&quot;0&quot;,&quot;starsonly&quot;:&quot;&quot;,&quot;best&quot;:&quot;5&quot;,&quot;gap&quot;:&quot;5&quot;,&quot;greet&quot;:&quot;\u0627\u0645\u062a\u06cc\u0627\u0632 \u0634\u0645\u0627 \u0628\u0647 \u0627\u06cc\u0646 \u0645\u0637\u0644\u0628&quot;,&quot;legend&quot;:&quot;0\\\/5 (0 \u0631\u0627\u06cc)&quot;,&quot;size&quot;:&quot;30&quot;,&quot;title&quot;:&quot;\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u0686\u06cc\u0633\u062a\u061f  \u0686\u06af\u0648\u0646\u0647 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u067e\u0631 \u0633\u0631 \u0648 \u0635\u062f\u0627 \u0631\u0627 \u062f\u0631 \u0646\u0627\u0648\u0628\u0631\u06cc \u0648 \u0627\u0645\u0648\u0631 \u0645\u0627\u0644\u06cc \u0633\u0627\u062f\u0647 \u06a9\u0646\u06cc\u0645&quot;,&quot;width&quot;:&quot;0&quot;,&quot;_legend&quot;:&quot;{score}\\\/{best} ({count} \u0631\u0627\u06cc)&quot;,&quot;font_factor&quot;:&quot;1.25&quot;}'>\n            \n<div class=\"kksr-stars\">\n    \n<div class=\"kksr-stars-inactive\">\n            <div class=\"kksr-star\" data-star=\"1\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" data-star=\"2\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" data-star=\"3\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" data-star=\"4\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" data-star=\"5\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n    <\/div>\n    \n<div class=\"kksr-stars-active\" style=\"width: 0px;\">\n            <div class=\"kksr-star\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n    <\/div>\n<\/div>\n                \n\n<div class=\"kksr-legend\" style=\"font-size: 24px;\">\n            <span class=\"kksr-muted\">\u0627\u0645\u062a\u06cc\u0627\u0632 \u0634\u0645\u0627 \u0628\u0647 \u0627\u06cc\u0646 \u0645\u0637\u0644\u0628<\/span>\n    <\/div>\n    <\/div>\n","protected":false},"excerpt":{"rendered":"<p><span class=\"span-reading-time rt-reading-time\" style=\"display: block;\"><span class=\"rt-label rt-prefix\">\u0632\u0645\u0627\u0646 \u0644\u0627\u0632\u0645 \u0628\u0631\u0627\u06cc \u0645\u0637\u0627\u0644\u0639\u0647: <\/span> <span class=\"rt-time\"> 8<\/span> <span class=\"rt-label rt-postfix\">\u062f\u0642\u06cc\u0642\u0647<\/span><\/span>\u062f\u0631 \u062f\u0646\u06cc\u0627\u06cc\u06cc \u06a9\u0647 \u062f\u0642\u062a \u0627\u0645\u0631\u06cc \u06a9\u0644\u06cc\u062f\u06cc \u0627\u0633\u062a\u060c \u0645\u062f\u06cc\u0631\u06cc\u062a \u0645\u0648\u062b\u0631 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u067e\u0631 \u0633\u0631 \u0648 \u0635\u062f\u0627 \u0628\u0631\u0627\u06cc \u062d\u0644 \u0645\u0634\u06a9\u0644\u0627\u062a \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0628\u0633\u06cc\u0627\u0631 \u0645\u0647\u0645 \u0627\u0633\u062a. \u0686\u0647 \u0628\u062e\u0648\u0627\u0647\u06cc\u062f \u06cc\u06a9 \u0645\u0648\u0634\u06a9 \u0631\u0627 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u06cc\u062f \u06cc\u0627 \u0628\u0627\u0632\u0627\u0631 \u0633\u0647\u0627\u0645 \u0631\u0627 \u067e\u06cc\u0634 \u0628\u06cc\u0646\u06cc \u06a9\u0646\u06cc\u062f\u060c \u062a\u0648\u0627\u0646\u0627\u06cc\u06cc \u0628\u0647 \u062f\u0633\u062a \u0622\u0648\u0631\u062f\u0646 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u062e\u0648\u0628 \u0627\u0632 \u06cc\u06a9 \u0645\u062d\u06cc\u0637 \u0646\u0627\u0645\u0634\u062e\u0635 \u0645\u0647\u0645 \u0627\u0633\u062a. \u0627\u06cc\u0646 \u062f\u0642\u06cc\u0642\u0627\u064b \u0647\u0645\u0627\u0646 \u0645\u0634\u06a9\u0644\u06cc \u0627\u0633\u062a \u06a9\u0647 [&hellip;]<\/p>\n","protected":false},"author":6,"featured_media":17711,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1743],"tags":[5341,1748,1925,1938,1926,5344,1916,4223,1822,1104,1796,2750,1803,2007,5343,4726,1992,5342,1788,5345,3224,1939,1785],"class_list":["post-17710","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-python","tag-5341","tag-python-hosting","tag----django","tag-1938","tag-1926","tag-5344","tag-1916","tag-4223","tag-1822","tag-1104","tag-1796","tag-2750","tag-1803","tag-2007","tag-5343","tag-4726","tag-1992","tag-5342","tag-1788","tag-5345","tag-3224","tag-1939","tag-1785"],"acf":[],"_links":{"self":[{"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/posts\/17710","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/users\/6"}],"replies":[{"embeddable":true,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/comments?post=17710"}],"version-history":[{"count":0,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/posts\/17710\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/media\/17711"}],"wp:attachment":[{"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/media?parent=17710"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/categories?post=17710"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/tags?post=17710"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}