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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 Non-
Disclosure Agreements. Disclosure of this information to other parties is prohibited
without the written consent of RoyalTek.
Prepared by
RoyalTek Company LTD.
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RDR-3100 User Manual Content 1. Introduction ....................................................................................................... 3 2. Product Feature ................................................................................................. 3 2.1 Product Applications ............................................................................................... 3 3. Specification....................................................................................
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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. This document describes the recommended schematic and layout design of gyro and odometer circuit, and
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RDR-3100 User Manual 3. Specification GPS Module - REB-3570 /LP GPS Chipset - Star III GPS Gsc3f/LP 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 - Warm start: 35 sec - Cold start: 35 sec Accuracy - Position: within 10m for 90% - Velocity: 0.1m/s Interface Protocol - NMEA 0183 ver 3.0, GGA, GSA, GSV (5), RMC - SiRF Protocol + DR protocol + Map Matching Protocol -
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RDR-3100 User Manual 4. Reference design of Gyro and Odometer circuit design 4.1 System Block Diagram +5V 12V input Convert Interface RTC +3.3V TX +3.3V TX +5V RX +3.3V RX +5V Boot +3.3V Boot +5V Odometer +3.3V Odometer +12V Back +3.3V Back +12V 5 RoyalTek Confidential PDF 檔案以 "pdfFactory Pro" 試用版建立 www.pdffactory.com
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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. The photo coupling transistors also isolate
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RDR-3100 User Manual 7 RoyalTek Confidential PDF 檔案以 "pdfFactory Pro" 試用版建立 ÿ www.pdffactory.com À
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RDR-3100 User Manual 5. HW Interface 5.1 Connector Type：20 Pin Header，2.0 mm pitch (J2) Pin Signal Name I/O Description Characteristics NO 1 N.C None connector 2 GPS 5V I +5V DC Power Input DC +5V ± 1%. 3 RTC (Backup I User Supply DC +2.6 ~ DC +2.6 ~ +3.6V. voltage) +3.6V Current ≤ 10uA w/o battery 4 GPS 5V I +5V DC Power Input 5 Reset I Reset (Active low) V > 2.3V V < 0.8V IH IL 6 Boot I Boot mode 3.15 ≥V ≥ 1.995V - 0.3V ≤ V ≤ 0.855V IH IL 7 Back (Reverse I Forwa
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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. l TXD2 This is the auxiliary transmitting channel communicated with car pc with can bus l ODOMETER T
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RDR-3100 User Manual Bottom: 10 RoyalTek Confidential PDF 檔案以 "pdfFactory Pro" 試用版建立 À www.pdffactory.com
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RDR-3100 User Manual 7. Mechanical Layout 11 RoyalTek Confidential PDF 檔案以 "pdfFactory Pro" 試用版建立 ÿ www.pdffactory.com
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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. There are 4 type sentence will output as the follow table: Table 1-1 NMEA-0183 Output Messages NMEA Record Description GGA Global positioning system fixed data GSA GNSS DOP and active satellites GSV GNSS satellites in view RMC Recommended minimum specific GNSS data The Ro
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RDR-3100 User Manual 14 Gyro Offset The voltage of Gyro input. The unit is 0.002v 15 Odometer scale factor The scale factor of odometer pulse. The scale is cm/pulse 16 Delta angle Vehicle’s Cog per second (unit = degree) The pulse count of last second of odometer sensor. The 17 Pulse count unit is pulse / second. 18 Delta distance The delta distance of last second. (Unit = m / s) 1: Received and executed a map matching sentence; 0: 19 Map Matching Status Not receive any map matching
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RDR-3100 User Manual 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 End of message termination ＜CR＞＜LF＞ 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 14 RoyalTek Confidential PDF 檔案以
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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 Table 1-1 GSA Data Format Name Example Units Description Message ID $GPGSA GSA protocol header Mode 1 A See Table 1-6 Mode 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
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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 Table 1-8 GSV Data Format Name Example Units Description Message ID $GPGSV GSV protocol header 1 Number of Messages 2 Range 1 to 3 1 Messages Number 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1(Range 1 to 32) Elevation 79
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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 Units Description 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 Indi
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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. $MMF, Delta_Latitude,A,Delta_Longitude,A,Delta_ Cog,A*c
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RDR-3100 User Manual Transfer Examples: Get current GPS Position Original: (24.106928,N,120.299588,E) (213.19) (Unit = DD.MMSSSS) 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) Converter GPS Info Format (Unit = degree) Command Description: Parameter: (156,A(para1),288,A(para2),10,A(para3)) Exposition: Retrieved MMF Command If para1 = ‘A’, Lat = Lat + 156 * 0.000001(unit = degree
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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 infor
