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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 Non-
Disclosure Agreements. Disclosure of this information to other parties is prohibited
without the written consent of RoyalTek.
Prepared by
RoyalTek
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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
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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. This document describes the recommended schematic and layout design of gyro and odometer circuit, and
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RDR-3200 User Manual 3. Specification GPS Chipset - Star 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 - Warm start: 35 sec - Cold start: 35 sec Accuracy - Position: within 10m for 90% - Velocity: 0.1m/s Interface Protocol - NMEA 0183 DGPS - Default is Disable WAAS - Default WAAS is Disable Altitude - 18,000 meter maximum Velocity - 514 meter/s
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RDR-3200 User Manual 4. Reference design of Gyro and Odometer circuit design 4.1 System Block Diagram (Panasonic SKU) 5 RoyalTek Confidential
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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. The photo coupling transistors also isolate the noise
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RDR-3200 User Manual Figure 2. Backup Battery Circuit V_3V3 Battery SCH D12 TP37 RB705D R40 220 D13 B1 RB705D PIN3(RTC_3V3) 7 RoyalTek Confidential 2 3 1 2 1 1 1 2 3 1
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RDR-3200 User Manual 5. 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 ± 5%. 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 3.15 ≥ V ≥ 1.995 V -0.3V ≤ V ≤ 0.855 V 6 Boot I Boot mode IH IL 7 Back (Reverse) I Forwar
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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. TXD2 This is the auxiliary transmitting channel communicated with car pc with can bus ODOMETER Thi
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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 TOP: Bottom: 10 RoyalTek Confidential
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RDR-3200 User Manual 7. Mechanical Layout 11 RoyalTek Confidential
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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. 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-3200 User Manual 16 Delta Angle Vehicle’s Cog per second (unit = degree), +: turn right, ‘-‘: turn left. The pulse count of last second of odometer 17 Odometer/CAN Bus Pulse Count sensor. The unit is pulse / second. 18 Delta Distance The delta distance of last second. (unit=meter) 1: Received and executed a map matching 19 Map Matching Status sentence; 0: Not receive any map matching sentence. Check Sum and sentence termination delimiter. 20 *CC The algorithm of checksum
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RDR-3200 User Manual E/W Indicator W E=east or W=west Position Fix Indicator 1 See Table 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 ＜CR＞＜LF＞ End of message termination Table 1-2 Position Fix Indicators Value Description 0 Fix not available or invalid
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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, , , , , ,1.8,1.0,1.5*33 15 RoyalTek Confidential
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RDR-3200 User Manual 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 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 De
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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 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-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 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-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. $MMF, Delta_Latitude,A,Delta_Longitude,A,Delta_ Cog,A*c
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RDR-3200 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) = 24.185911 Long = 120 + 29/60 + 95.88/3600 (if S is used, Long * ‐1.0) = 120.5100 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(24.1859) +
