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RDR-3100 User Manual

17

MSL Altitude

9.0

meters

Units M

meters

Geoid Separation

meters

Units M

meters

Age of Diff. Corr.

second

Null fields when DGPS is
not used

Diff. Ref. Station ID

0000

Checksum *18

＜

CR

＞＜

LF

＞

End of message termination

Table 1-2 Position Fix Indicators

Value Description
0

Fix not available or invalid

1

GPS SPS Mode, fix valid

2

Differential GPS, SPS Mode, fix valid

3-5

Not Supported GPS PPS Mode, fix valid

6

Dead Reckoning Mode, fix valid

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Содержание RDR-3100

Страница 1: ...e sole purpose of the business discussions between customer and RoyalTek and is covered under the terms of the applicable Non Disclosure Agreements Disclosure of this information to other parties is prohibited without the written consent of RoyalTek Prepared by RoyalTek Company LTD 4F No 188 Wen Hwa 2nd Rd Kuei Shan Tao Yuan 333 Taiwan TEL 886 3 3960001 FAX 886 3 3960065 1 ...

Страница 2: ...TOEM 3 15 8 1 2 GGA Global Positioning System Fixed Data 16 8 1 3 GSA GNSS DOP and Active Satellites 18 8 1 4 GSV GNSS Satellites in View 19 8 1 5 RMC Recommended Minimum Specific GNSS Data 20 8 2 GPS DR UART A Input command 21 8 2 1 MMF 21 8 3 CAN bus UART B protocol 23 8 3 1 Speed Reverse status input Message 23 8 3 2 GPS antenna detection output Message 24 8 4 NMEA Output Message 25 9 Calibrati...

Страница 3: ...d is designed to operate with RDR 3100 algorithm correctly This document also describes the application of DR protocol and illustrates how to optimize the performance of DR using known digital map information 2 Product Feature 20 parallel channels Screw holes type Newest generation of RoyalTek GPS module integrated Dead Reckoning technology Keep on producing an accurate position after loosing cont...

Страница 4: ... bits DGPS Default is Disable WAAS Default WAAS is Disable Dynamics Altitude 18 000 meter maximum Velocity 514 meter second maximum MCU Silicon Lab C8051F353 Antenna Active Antenna RF Connector MCX Male Head 180 degree 8mm standard Option for any kind of RF Connector External Antenna input Voltage Recommend using 2 7V 3 3V Power Voltage Type DC 5V 1 Screw Hole type Antenna Detect function GPIO Fol...

Страница 5: ...nual 4 Reference design of Gyro and Odometer circuit design 4 1 System Block Diagram RTC 3 3V Boot 5V Boot 3 3V TX 5V RX 5V TX 3 3V RX 3 3V Back 12V Odometer 12V 12V input Odometer 3 3V Back 3 3V 5V Convert Interface 5 ...

Страница 6: ... ground The input of odometer is around 12V typically It transfers the voltage level to accommodate the I O voltage level of RDR 3100 The photo coupling transistors also isolate the noise of car from the RDR 3100 system The power of the gyro is 5Vwhich is different from the power of RDR 3100 Please use a separate analog ground for gyro And please keep high speed signal away from the signal path of...

Страница 7: ...0 01uF U4 LTV817S 2 3 4 1 D1 1N4148 R15 20 V_3V3 V_3V3 R17 22K Q2 2SC2412K 3 2 1 R12 220 R11 1k R13 220 Odometer D2 1N4148 R23 0 Q1 2SC2412K 3 2 1 TP32 1 1 R24 22K TP31 1 1 rev erse_A D R25 100K Rev erse R14 0 R18 270 R22 100K C10 0 01uF odometer_A D U5 LTV817S 2 3 4 1 R47 0 7 ...

Страница 8: ...RDR 3100 User Manual Figure 2 Backup Battery Circuit V_3V3 Battery SCH PIN3 RTC_3V3 B1 1 2 R40 220 2 1 D12 RB705D TP37 1 1 3 2 1 D13 RB705D 3 8 ...

Страница 9: ... V V V V IL IH 855 0 0 3V 995 1 15 3 7 Back Reverse line I Forward or Back Forward Hi level 2V Backward Lo level 0 8V 8 N C None connector 9 Odometer I Odometer Input frequency 32k HZ Vih 2V Vil 0 8V 10 GND G Ground Reference Ground 11 TXD1 SiRF 3 TXD1 O NMEA transmit Car PC UAR1 V VOL OH 715 0 V V V 375 2 85 2 38400bps 8 data bits no parity 1 stop bit 12 RXD1 SiRF 3 RXD1 I NMEA Receive Car PC UAR...

Страница 10: ...ash z RXD1 This is the main receiver channel and is used to receive software commands to the board from SIRFdemo software or from user written software z RXD2 This is the auxiliary receiving channel communicated with car pc with can bus z TXD1 This is the main transmitting channel and is used to output navigation and measurement data to SiRFdemo or user written software z TXD2 This is the auxiliar...

Страница 11: ...ly voltage should be between 2 5V and 3 6V z BACK Backward This pin provides for connecting to backward signal z RESET This pin provides an active low reset input to the board It causes the board to reset and start searching for satellites If not utilized it may be left open J2 CON20 Interface 1 3 5 7 9 11 13 15 17 19 2 4 6 8 10 12 14 16 18 20 11 ...

Страница 12: ...CB JACK J1 RF IN This pin receives GPS analog signal The line on the PCB between the antenna or antenna connector has to be a controlled impedance line Microstrip at 50Ω This pin can provide maximum power 30mA 2 85V for active antenna 6 Product Picture TOP 12 ...

Страница 13: ...13 RDR 3100 User Manual Bottom ...

Страница 14: ...RDR 3100 User Manual 7 Mechanical Layout 14 ...

Страница 15: ...e contains the navigation and calibration information of DR The protocol is illustrated as follows Item Field Description 1 Beginning of sentence 2 RTOEM Message Header 3 3 Message ID 4 GPS validated Number of SV in use 3 1 other is 0 5 Gyro Calibrate Status 1 Gyro already calibrated 0 Gyro not calibrated 6 Odometer Calibrate Status 1 Odometer already calibrated 0 Odometer not calibrated 7 Gyro In...

Страница 16: ...3 0 50 GPS is validated Gyro calibrate Odometer calibrate Gyro input is available Odometer input is available MCU Count 1 ODO PWM input GPS fix No backward Antenna is available Gyro bias is 831 95 0 002 1 6639 V Odometer scale 29 78 pulse second Heading Rate 27 45 degree Pulse count of odometer 77 pulses Delta distance 22 93 m s Received no any map matching command Check sum 0x 50 8 1 2 GGA Global...

Страница 17: ...nd Null fields when DGPS is not used Diff Ref Station ID 0000 Checksum 18 CR LF End of message termination Table 1 2 Position Fix Indicators Value Description 0 Fix not available or invalid 1 GPS SPS Mode fix valid 2 Differential GPS SPS Mode fix valid 3 5 Not Supported GPS PPS Mode fix valid 6 Dead Reckoning Mode fix valid ...

Страница 18: ...de 2 3 See Table 1 7 Satellite Used 07 Sv on Channel 1 Satellite Used 02 Sv on Channel 2 Satellite Used Sv on Channel 12 PDOP 1 8 Position Dilution of Precision HDOP 1 0 Horizontal Dilution of Precision VDOP 1 5 Vertical Dilution of Precision Checksum 33 CR LF End of message termination Table 1 2 Mode 1 Value Description 1 Fix not available 2 2D 3 3D Table 1 3 Mode 2 Value Description M Manual for...

Страница 19: ...ssages Number1 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 Range 1 to 32 Elevation 79 degrees Channel 1 Maximum 90 Azimuth 048 degrees Channel 1 True Range 0 to 359 SNR C No 42 dBHz Range 0 to 99 null when not tracking Satellite ID 27 Channel 4 Range 1 to 32 Elevation 27 degrees Channel 4 Maximum 90 Azimuth 138 degrees Channel 4 True Range 0 to 359 SNR C No 42 dBHz Range 0 to 99...

Страница 20: ...on Message ID GPRMC RMC protocol header UTC Position 161229 487 hhmmss sss Status A A data valid or V data not valid Latitude 3723 2475 ddmm mmmm N S Indicator N N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west Speed Over Ground 0 13 knots Course Over Ground 309 62 degrees True Date 120598 Ddmmyy Magnetic Variation degrees Variation sense E east or W west Not Sho...

Страница 21: ...rated by map Value the unit is 1 0e 6 degree 4 A 1 A use above value to calibrate the DR Latitude V Do not use 5 Delta Longitude dddddddd 8 The correction of longitude value to calibrate DR position that generated by map Value the unit is 1 0e 6 degree 6 A 1 A use above value to calibrate the DR Longitude V Do not use 7 Del_Cog 4 The correction angle COG of current movement to calibrate DR Heading...

Страница 22: ...sed Lat 1 0 24 185911 Long 120 29 60 95 88 3600 if S is used Long 1 0 120 5100 Command Description Parameter 156 A para1 288 A para2 10 A para3 Exposition If para1 A Lat Lat 24 1859 156 0 000001 unit degree If para2 A Long Long 120 5100 288 0 000001 unit degree If para3 A Cog Cog 213 19 10 0 1 Converter GPS Info Format Unit DD MMSSSS Description Lat Format DD MMSSSS N S indicator If lat value 0 0 ...

Страница 23: ...m MCU The communication settings Baud rate 38400 n 8 1 Update rate 1 Hz 8 3 1 Speed Reverse status input Message This sentence contains the speed and reverse information that read from CAN bus The protocol is illustrated as the following Item Field Description 1 Beginning of the sentence 2 PSRF121 Message Header 3 Speed 4 Reverse High normal Low activated 5 CC CR LF Example Example PSRF121 100 1 2...

Страница 24: ...protocol is illustrated as follows Item Field Description 1 Beginning of sentence 2 PSRF122 Message Header 1 antenna connected 3 GPS antenna status 0 antenna not connected 4 CC CR LF Check Sum and sentence termination delimiter The algorithm of checksum calculation is same With the one to calculate NMEA checksum Example PSRF 122 1 3B CR LF GPS antenna connected Check sum 0x3B 24 ...

Страница 25: ...lace automatically during periods of good GPS reception 9 3 Calibration of DR using digital map information The DR is used to output the navigation data when GPS signal is absent or poor The longer time of losing GPS signal the Gyro precision and odometer would become worse The best way to have better DR performance is to use the digital map information Once the map matching completed it could pro...

Страница 26: ...RDR 3100 User Manual Temperature Range 40 85 Zero point voltage 2 5 0 4V 25mV S Sensitivity 4dB Frequency response 7Hz Output voltage range 0 3 4 7V 10mVpp Output noise 26 ...

Страница 27: ...21 May Chen V1 0 Release 1 1 2007 11 22 May Chen V1 1 Release running change sirf LP chipset 1 2 2008 02 01 May Chen V1 2 Release company address Active antenna spec 1 3 2008 02 15 May Chen Change RTOEM3 Parameter Map Match Command Format CAN bus protocol GPS DR Input command Voltage Type 1 4 2008 02 29 May Chen Add flow chart for 8 2 1 1 5 2008 04 29 May Chen Change Company address and add calibr...

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