RDR-3100 User Manual RDR-3100 User Manual Version 1.5 2008/04/29 This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It is provided for the sole purpose of the business discussions between customer and RoyalTek and is covered under the terms of the applicable NonDisclosure 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.
RDR-3100 User Manual Content 1. Introduction ....................................................................................................... 3 2. Product Feature ................................................................................................. 3 2.1 Product Applications ............................................................................................... 3 3. Specification......................................................................................................
RDR-3100 User Manual 1. Introduction RoyalTek RDR-3100 is the newest generation of RoyalTek GPS module integrated Dead Reckoning technology. The RDR-3100 includes dead reckoning sensors to track your vehicle's course when your GPS signal is blocked for example in urban areas or tunnels. If you lose GPS coverage in areas with tall buildings or tunnels, the RDR-3100 keeps on navigating.
RDR-3100 User Manual 3. Specification GPS Module GPS Chipset Frequency Channel C/A Code chipset Fix time (Open sky) Accuracy Interface Protocol - REB-3570 /LP - Star III GPS Gsc3f/LP chipset - L1 1,575.42 MHz - 20 channels - 1,023 MHz - Reacquisition: less than 0.1s - Hot start: 1 sec - Warm start: 35 sec - Cold start: 35 sec - Position: within 10m for 90% - Velocity: 0.1m/s - NMEA 0183 ver 3.
RDR-3100 User Manual 4. Reference design of Gyro and Odometer circuit design 4.1 System Block Diagram +5V Convert 12V input Interface RTC +3.3V TX +3.3V RX +3.3V Boot +3.3V Odometer +3.3V Back +3.3V RoyalTek Confidential PDF 檔案以 "pdfFactory Pro" 試用版建立 www.pdffactory.
RDR-3100 User Manual 4.2 Application Circuit Figure 1 illustrates the proposed schematic diagram of Gyro, odometer and RDR-3100. RDR-3100 supports the Gyro, Panasonic EWT S84/86. Please care about the ground partition design among Gyro circuit, RDR-3100 and odometer input. It would be better to use 2 kinds of ground. The input of odometer is around 12V typically. It transfers the voltage level to accommodate the I/O voltage level of RDR-3100.
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RDR-3100 User Manual 5. HW Interface 5.1 Connector Type：20 Pin Header，2.0 mm pitch (J2) Pin Si gnal Na me NO 1 N.C 2 GPS 5V 3 RTC (Backup voltage) 4 GPS 5V 5 Reset 6 Boot 7 Back (Reverse line) 8 N.C 9 Odometer I/O Des cri ption C ha r a cteristic s I I I I None connector +5V DC Power Input User Supply DC +2.6 ~ +3.
RDR-3100 User Manual This is the main receiver channel and is used to receive software commands to the board from SIRFdemo software or from user written software. l RXD2 This is the auxiliary receiving channel communicated with car pc with can bus l TXD1 This is the main transmitting channel and is used to output navigation and measurement data to SiRFdemo or user written software.
RDR-3100 User Manual Bottom: RoyalTek Confidential 10 PDF 檔案以 "pdfFactory Pro" 試用版建立 À www.pdffactory.
RDR-3100 User Manual 7. Mechanical Layout RoyalTek Confidential 11 PDF 檔案以 "pdfFactory Pro" 試用版建立 ÿwww.pdffactory.
RDR-3100 User Manual 8. SW Protocol 8.1 GPS output Protocol The communication settings: Baud rate: 38400, n, 8, 1 The UARTA will output GPS NMEA 0183 V3.0 protocol and RoyalTek DR protocol.
RDR-3100 User Manual 14 15 Gyro Offset Odometer scale factor 16 Delta angle 17 Pulse count 18 Delta distance 19 Map Matching Status 20 *CC The voltage of Gyro input. The unit is 0.002v The scale factor of odometer pulse. The scale is cm/pulse Vehicle’s Cog per second (unit = degree) The pulse count of last second of odometer sensor. The unit is pulse / second. The delta distance of last second.
RDR-3100 User Manual Units Geoid Separation Units Age of Diff. Corr. M Diff. Ref. Station ID Checksum ＜CR＞＜LF＞ 0000 *18 Value 0 1 2 3-5 6 M meters meters meters second Null fields when DGPS is not used End of message termination Table 1-2 Position Fix Indicators Description Fix not available or invalid GPS SPS Mode, fix valid Differential GPS, SPS Mode, fix valid Not Supported GPS PPS Mode, fix valid Dead Reckoning Mode, fix valid RoyalTek Confidential 14 PDF 檔案以 "pdfFactory Pro" 試用版建立 www.
RDR-3100 User Manual 8.1.3 GSA-GNSS DOP and Active Satellites Table 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 Name Message ID Mode 1 Mode 2 Satellite Used Satellite Used …. Satellite Used PDOP HDOP VDOP Checksum ＜CR＞＜LF＞ Table 1-1 GSA Data Format Example Units Description $GPGSA GSA protocol header A See Table 1-6 3 See Table 1-7 07 Sv on Channel 1 02 Sv on Channel 2 …. Sv on Channel 12 1.8 Position Dilution of Precision 1.
RDR-3100 User Manual 8.1.4 GSV-GNSS Satellites in View Table 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 Name Message ID Number of Messages1 Messages Number1 Satellites in View Satellite ID Elevation Azimuth SNR (C/No) ….
RDR-3100 User Manual 8.1.5 RMC-Recommended Minimum Specific GNSS Data Table 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 Table 1-1 RMC Data Format Name Example Message ID $GPRMC UTC Position 161229.487 Status A Latitude N/S Indicator Longitude E/W Indicator Speed Over Ground Course Over Ground Date Magnetic Variation Variation sense 3723.2475 N 12158.3416 W 0.13 309.
RDR-3100 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 navigation program send the map matching information to the DR module to update the current position and azimuth angle of device using known information. Please refer to section 2.2 Calibration of DR using digital map information for further information.
RDR-3100 User Manual Transfer Examples: Original: (24.106928,N,120.299588,E) (213.19) Result: (to unit = degree) Lat = 24 + 10/60 + 69.28/3600 (if S is used, Lat * -1.0) Long = 120 + 29/60 + 95.88/3600 (if S is used, Long * -1.0) Get current GPS Position (Unit = DD.MMSSSS) Converter GPS Info Format (Unit = degree) Command Description: Parameter: (156,A(para1),288,A(para2),10,A(para3)) Exposition: If para1 = ‘A’, Lat = Lat + 156 * 0.000001(unit = degree) If para2 = ‘A’, Long = Long + 288 * 0.
RDR-3100 User Manual 8.3 CAN bus (UART B) protocol The RDR-3100 provides a second port to receive the speed and reverse message from the input source. If the module receives the following input message then the DR module will stop reading the speed and reverse message from 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.
RDR-3100 User Manual 8.3.2 GPS antenna detection 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 1 2 Field $ PSRF122 3 GPS antenna status 4 *CC Description Beginning of sentence Message Header 1: antenna connected 0: antenna not connected Check Sum and sentence termination delimiter. The algorithm of checksum calculation is same With the one to calculate NMEA checksum.
RDR-3100 User Manual 8.4 NMEA Output Message 9 Calibration of DR 9.1 Self calibration of DR RDR-3100 calibrates the Gyro bias and odometer scale using the information of GPS satellites automatically. It also updates the position and azimuth using GPS navigation information automatically. Customer is not required to calibrate the Gyro bias and odometer scale factor.
RDR-3100 User Manual Temperature Range Zero point voltage Sensitivity Frequency response(7Hz) Output voltage range Output noise RoyalTek Confidential - -40 ~ 85℃ - +2.5±0.4V - 25mV/(°/S) - ＞–4dB - 0.3~4.7V - ＜10mVpp 23 PDF 檔案以 "pdfFactory Pro" 試用版建立 www.pdffactory.
RDR-3100 User Manual 10. Package Specification and Order Information 格式化: 法文 (法國) 11. Contact Royaltek 格式化: 法文 (法國) Contact: sales@royaltek.com Headquarter: 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://www.royaltek.com/contact 12. Revision History Revision Number 0.1 1.0 1.1 1.2 Date Author 2007/03/16 2007/03/21 2007/11/22 2008/02/01 May Chen May Chen May Chen May Chen 1.
