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RoyalTek RDR-3200 manual

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Table of contents for the manual

  • Page 1

    RDR-3200 User Manual RDR-3200 (Panasonic Gyr o) User Manual V ersion 1.0 2009/06/02 This document contains information highly conf idential to RoyalTek Company LTD (RoyalTek). It is provided for the sole pur pose of the business discussions between customer and RoyalTek and is covered under th e terms of the applicable Non- Disclosure Agreements. D[...]

  • Page 2

    RDR-3200 User Manual RoyalTek Confidential 2 Content 1. Introduction .................................................................................................... 3 2. Product Feature .............................................................................................. 3 3. Specification .............................................[...]

  • Page 3

    RDR-3200 User Manual 1. Introduction RoyalTek RDR-3200 is the newest generation of RoyalTek GPS modu le integrated Dead Reckoning technology. The RDR-3200 includes dead reckoning sensors to track your vehicle's course when your GPS signal is bloc ked for example in urba n areas or tunnels. If you lose GPS coverage in areas with tall buildings [...]

  • Page 4

    RDR-3200 User Manual 3. Specification GPS Chipset - S tar III GPS Gsc3f/LPX chipset Frequency - L1 1,575.42 MHz Channel - 20 channels C/A Code - 1,023 MHz chipset Fix time - Reacquisition: less than 0.1s (Open sky) - Hot start: 1 sec - W arm start: 35 sec - Cold start: 35 sec Accuracy - Position: within 10m for 90% - V elocity: 0.1m/s Interface Pro[...]

  • Page 5

    RDR-3200 User Manual 4. Reference design of Gyro and Odometer circuit design 4.1 System Block Diagram (Panasonic SKU) RoyalTek Confidential 5[...]

  • Page 6

    RDR-3200 User Manual 4.2 Application Circuit Figure 1 illustrates the propos ed schematic diagram of Gyro, odometer and RDR-3200. RDR-3200 supports the Gyro, Panasonic. Pl ease care about the ground partition design among Gyro circuit, RDR-3200 and odometer input. It would be better to use 2 kinds of ground. The input of odometer is around 12V typi[...]

  • Page 7

    RDR-3200 User Manual Figure 2. Backup Battery Circuit V_3V3 Bat te r y S C H PI N 3(R T C _3V3) B1 1 2 R4 0 22 0 2 1 D1 2 R B705D TP 3 7 1 1 3 2 1 D1 3 R B705D 3 RoyalTek Confidential 7[...]

  • Page 8

    RDR-3200 User Manual 5. Interface 5.1 Connector Type ： 20 Pin Header ， 2.0 mm pitch (J2) Pin NO Signal Name I/O Description Characteristics 1 N.C None connector 2 GPS 5V I +5V DC Power Input DC +5V ± 5%. 3 R TC (Backup voltage) I User Supply DC +2.6 ~ +3.6V DC +2.6 ~ +3.6V . Current ≤ 10uA w/o battery 4 GPS 5V I +5V DC Power Input 5 Reset I [...]

  • Page 9

    RDR-3200 User Manual RXD1 This is the main receiv er channel and is used to receive software commands to the board from SIRFdemo software or from user written software. RXD2 This is the auxiliary receiving chann el communicated with car pc with can bus TXD1 This is the main tran smitting channel and is used to output navigation an d measurement dat[...]

  • Page 10

    RDR-3200 User Manual 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 50 Ω ). This pin can provide maximum power 30mA @ 2.85V for active antenna. 6. Product Picture TO P: Bottom: RoyalTek Confidential 10[...]

  • Page 11

    RDR-3200 User Manual 7. Mechanical Layout RoyalTek Confidential 11[...]

  • Page 12

    RDR-3200 User Manual 8. SW Protocol 8.1 GPS output Protocol The communication settings: Baud rate: 38400, n, 8, 1 The UAR T A will output GPS NMEA 0 183 V3.0 protocol and RoyalT ek DR protocol . There are 4 type sentence will out put as the follow table : T able 1-1 NMEA-0183 Output Messages NMEA Record Description GGA Global positioning system fix[...]

  • Page 13

    RDR-3200 User Manual 16 Delta Angle V ehicle’s Cog pe r second (unit = degree), +: turn right, ‘-‘: turn left. The pulse count of last second of odometer sensor . The unit is pulse / second. 17 Odometer/CAN Bus Pulse Count 18 Delta Distance The delta distance of last second. (unit=meter) 1: Received and ex ecuted a map matching sentence; 0: N[...]

  • Page 14

    RDR-3200 User Manual E/W Indicator W E=east or W=west Position Fix Indicator 1 See T able 1-4 Satellites Used 07 Range 0 to 12 HDOP 1.0 Horizontal Dilution of Precision 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 E[...]

  • Page 15

    RDR-3200 User Manual 8.1.3 GSA-GNSS DOP and Active Satellites T able 1-5 contains the values of the following example: $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33 RoyalTek Confidential 15[...]

  • Page 16

    RDR-3200 User Manual T able 1-1 GSA Data Format Name Example Units Description Message ID $GPGSA GSA protocol header Mode 1 A See T able 1-6 Mode 2 3 See T able 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 D ilution of Pr[...]

  • Page 17

    RDR-3200 User Manual 8.1.4 GSV-GNSS Satellites in View T able 1-8 contains the values of the following example: $GPGSV ,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71 $GPGSV ,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41 T able 1-8 GSV Data Format Name Example Units Description Message ID $GPGSV GSV protocol header Number of Messa[...]

  • Page 18

    RDR-3200 User Manual 8.1.5 RMC-Recommended Mi nimum Specific GNSS Data T able 1-9 contains the values of the following example: $GPRMC,161229.487,A,3723.2475, N,12158.3416,W ,0.13,309.62,120598,,,A*10 T able 1-1 RMC Data Format Name Example Units Description Message ID $GPRMC RMC protocol header UTC Position 161229.487 hhmmss.sss S tatus A A=data v[...]

  • Page 19

    RDR-3200 User Manual GPS DR (UART A) Input command The input command is used to let the navigation program send command to DR. 8.2.1 $MMF This MMF command is used to let the na vigation program send the m ap matching information to the DR module to update the cu rrent position and azimu th angle of device using known information. Please refer to se[...]

  • Page 20

    RDR-3200 User Manual Get  current  GPS  Po s it i o n  (Unit  =  DD.MMSSSS)  Converter  GPS  Info  Form at  (Unit  =  degree)  Retriev ed  MMF  Command  Message  Updated  GPS  Po s it i o n  by  Input  MMF  Message  W aiting  for  next  MMF  Command  Tr a n s [...]

  • Page 21

    RDR-3200 User Manual 8.3 CAN bus (UART B) protocol The RDR-3100 provides a second port to receiv e the speed and reverse message from the input source. If the module receives the following input m e ssage then the DR module will stop reading the speed and re verse message from MCU. The communication settings: Baud rate: 38400, n, 8, 1 Update rate: [...]

  • Page 22

    RDR-3200 User Manual 8.3.2 GPS antenna det ection output Message This sentence contains the GPS antenna detector information which read from GPS module and send to the CAN bus. The 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 co[...]

  • Page 23

    RDR-3200 User Manual 8.4 NMEA Output Message 9 Calibration of DR 9.1 Self calibration of DR RDR-3100 calibrates the Gyro bi as and odometer scale usi ng the information of GPS satellites automatically . It also updates th e position and azimuth using GPS navigation information automatically . Customer is not requi red to calibrate the Gyro bias and[...]

  • Page 24

    RDR-3200 User Manual Operation voltage Range - +5±0.25 V T emperature 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 RoyalTek Confidential 24[...]

  • Page 25

    RDR-3200 User Manual 10. Package Specification and Order Information 11. Contact Royaltek  Headquarter: Address: 4F., No.188, Wen Hwa 2nd Rd., Kuei Shan, Tao Yuan 333, Taiwan TEL: 886-3-3960001 FAX: 886-3-3960065  Web Site: http://www.royaltek.com  Web Site Customer Service: http://w ww.royaltek.com/contact 12. Revision History Re[...]