RDR-3200 User Manual RDR-3200 (Panasonic Gyro) User Manual Version 1.0 2009/06/02 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-3200 User Manual Content 1. Introduction....................................................................................................3 2. Product Feature ..............................................................................................3 3. Specification ..................................................................................................4 4. Reference design of Gyro and Odometer circuit design................................5 4.1 System Block Diagram (Panasonic SKU) ...
RDR-3200 User Manual 1. Introduction RoyalTek RDR-3200 is the newest generation of RoyalTek GPS module integrated Dead Reckoning technology. The RDR-3200 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-3200 keeps on navigating.
RDR-3200 User Manual 3. Specification GPS Chipset Frequency Channel C/A Code chipset Fix time (Open sky) Accuracy - Star III GPS Gsc3f/LPX 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.
RDR-3200 User Manual 4. Reference design of Gyro and Odometer circuit design 4.
RDR-3200 User Manual 4.2 Application Circuit Figure 1 illustrates the proposed schematic diagram of Gyro, odometer and RDR-3200. RDR-3200 supports the Gyro, Panasonic. Please 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 typically. It transfers the voltage level to accommodate the I/O voltage level of RDR-3200.
RDR-3200 User Manual Figure 2.
RDR-3200 User Manual 5. Interface 5.1 Connector Type：20 Pin Header，2.0 mm pitch (J2) Pin NO 1 2 3 Signal Name 4 5 6 N.C GPS 5V RTC (Backup voltage) GPS 5V Reset Boot 7 I/O Description Characteristics I I I None connector +5V DC Power Input DC +5V ± 5%. User Supply DC +2.6 ~ DC +2.6 ~ +3.6V. +3.6V Current ≤ 10uA w/o battery +5V DC Power Input Reset (Active low) VIH > 2.3V VIL < 0.8V 3.15 ≥ VIH ≥ 1.995V - 0.3V ≤ VIL ≤ 0.855V Boot mode Back (Reverse) I Forward or Back 8 9 N.
RDR-3200 User Manual 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. RXD2 This is the auxiliary receiving channel communicated with car pc with can bus TXD1 This is the main transmitting channel and is used to output navigation and measurement data to SiRFdemo or user written software.
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 50Ω). This pin can provide maximum power 30mA @ 2.85V for active antenna. 6.
RDR-3200 User Manual 7.
RDR-3200 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-3200 User Manual 16 Delta Angle 17 Odometer/CAN Bus Pulse Count 18 Delta Distance 19 Map Matching Status 20 *CC Vehicle’s Cog per second (unit = degree), +: turn right, ‘-‘: turn left. The pulse count of last second of odometer sensor. The unit is pulse / second. The delta distance of last second. (unit=meter) 1: Received and executed a map matching sentence; 0: Not receive any map matching sentence. Check Sum and sentence termination delimiter.
RDR-3200 User Manual E/W Indicator Position Fix Indicator Satellites Used HDOP W 1 07 1.0 MSL Altitude Units Geoid Separation Units Age of Diff. Corr. 9.0 M Diff. Ref.
RDR-3200 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.
RDR-3200 User Manual 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 1.0 Horizontal Dilution of Precision 1.5 Vertical Dilution of Precision *33 End of message termination Name Message ID Mode 1 Mode 2 Satellite Used Satellite Used ….
RDR-3200 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-3200 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-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 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-3200 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) = 24.185911 Long = 120 + 29/60 + 95.88/3600 (if S is used, Long * ‐1.0) = 120.5100 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(24.1859) + 156 * 0.
RDR-3200 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-3200 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-3200 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-3200 User Manual Operation voltage Range Temperature Range Zero point voltage Sensitivity Frequency response(7Hz) Output voltage range Output noise RoyalTek Confidential - +5±0.25 V - -40 ~ 85℃ - +2.5±0.4V - 25mV/(°/S) - ＞–4dB - 0.3~4.
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://www.royaltek.com/contact 12. Revision History Revision Date Number 1.0 2009/06/02 Author Change notice May Chen Initial Release Copyright © 2009, RoyalTek Company Ltd.
