RoyalTek PANASONIC GYRO RDR-3200, User Manual

Page 1: ...sions 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 nd 4F No 188 Wen Hwa 2 Rd Kuei Shan Tao Yuan 333 Taiwan TEL 886 3 3960001 FAX 886 3 3960065 Website http www royaltek com Email http www royaltek com cont...

Page 2: ...TOEM 3 12 8 1 2 GGA Global Positioning System Fixed Data 13 8 1 3 GSA GNSS DOP and Active Satellites 15 8 1 4 GSV GNSS Satellites in View 17 8 1 5 RMC Recommended Minimum Specific GNSS Data 18 8 2 GPS DR UART A Input command 19 8 2 1 MMF 19 8 3 CAN bus UART B protocol 21 8 3 1 Speed Reverse status input Message 21 8 3 2 GPS antenna detection output Message 22 8 4 NMEA Output Message 23 9 Calibrati...

Page 3: ...ed to operate with RDR 3200 algorithm correctly This document also describes the application of DR protocol and illustrates how to optimize the performance of DR using known digital map information 2 Product Feature 20 parallel channels Screw holes type Newest generation of RoyalTek GPS module integrated Dead Reckoning technology Keep on producing an accurate position after loosing contact to the ...

Page 4: ...000 meter maximum Velocity 514 meter second maximum MCU Silicon Lab C8051F353 Antenna Active Antenna RF Connector SMA R A PCB JACK J1 Option for any kind of RF Connector External Antenna input Voltage Recommend using 2 7V 3 3V Power Voltage Type DC 5V 2 Screw Hole type Antenna Detect function GPIO Follow customer GPS antenna detector protocol Port 2 baud Rate 38400bps 1 YES 0 NO Interface Connecto...

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: ...pling transistors also isolate the noise of car from the RDR 3200 system The power of the gyro is 5Vwhich is different from the power of RDR 3200 Please use a separate analog ground for gyro And please keep high speedy signal away from the signal path of gyro and power when doing layout Figure 1 Odometer Reverse Circuit V_5V R19 0 V_5V C11 0 01uF U4 LTV817S 2 3 4 1 D1 1N4148 R15 20 V_3V3 V_3V3 R17...

Page 7: ...RDR 3200 User Manual Figure 2 Backup Battery Circuit V_3V3 Battery SCH PIN3 RTC_3V3 B1 1 2 R40 220 2 1 D12 RB705D TP37 1 1 3 2 1 D13 RB705D 3 RoyalTek Confidential 7 ...

Page 8: ...equency 4k HZ Vih 2V Vil 0 8V 10 GND G Ground Reference Ground 11 TXD1 SiRF 3 TXD1 O NMEA transmit Car PC UAR1 2 4800bps 8 data bits no parity 1 stop bit V V V V V OL OH 715 0 375 2 85 12 RXD1 SiRF 3 RXD1 I NMEA Receive Car PC UAR1 3 V V V V V IL IH 855 0 0 3V 995 1 15 13 GND G Ground Reference Ground 14 TXD2 SiRF 3 TXD2 O Can bus data transmit Vih VDD 0 1V Vil 0 6V Car PC UAR2 VDD 3 3V for MCU 15...

Page 9: ...liary transmitting channel communicated with car pc with can bus ODOMETER This pin provides for connecting to odometer RTC Backup voltage This is the battery backup input that powers the SRAM and RTC when main power is removed Typical current draw is 10uA The supply voltage should be between 2 5V and 3 6V BACK Reverse This pin provides for connecting to backward signal Reset This pin provides an a...

Page 10: ...alog 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 Product Picture TOP Bottom RoyalTek Confidential 10 ...

Page 11: ...RDR 3200 User Manual 7 Mechanical Layout RoyalTek Confidential 11 ...

Page 12: ...tion and calibration information of DR The protocol is illustrated as follows Item Field Description 1 Beginning of sentence 2 RTOEM Message Header 3 3 Message ID 4 GPS validated Number of SV in use 3 1 other is 0 5 Gyro Bias Initial Status 1 Success 0 Failed 6 Odometer Scale Initial Status 1 Success 0 Failed 7 Gyro Input Status 1 Available 0 no input 8 Odometer Input Status 1 Available 0 no input...

Page 13: ... scale is initialized X4 Gyro input source is available X5 Odometer input source is available X6 1 time for capture sensor per X7 Odometer source is used X8 GPS mode is used X9 No backward is captured X10 Antenna is available X11 Gyro voltage is 831 95 500 1 6639 V X12 EKF odometer scale parameter is 29 78 cm pulse X13 Delta angel for Device is turn right 27 45 degree X14 Odometer capture pulse co...

Page 14: ...eoid 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 RoyalTek Confid...

Page 15: ...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 RoyalTek Confidential 15 ...

Page 16: ...nnel 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 End of message termination CR LF Table 1 2 Mode 1 Value Description 1 Fix not available 2 2D 3 3D Table 1 3 Mode 2 Value Description M Manual forced to operate in 2D or 3D mode A Automatic allowed to automatically switch 2D 3D ...

Page 17: ...mber 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 Range 1 to 32 Elevation 79 degrees Channel 1 Maximum 90 Azimuth 048 degrees Channel 1 True Range 0 to 359 SNR C No 42 dBHz Range 0 to 99 null when not tracking Satellite ID 27 Channel 4 Range 1 to 32 Elevation 27 degrees Channel 4 Maximum 90 Azimuth 138 degrees Channel 4 True Range 0 to 359 SNR C No 42 dBHz Range 0 to 99 null when...

Page 18: ...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 Indicator W E east or W west Speed Over Ground 0 13 knots Course Over Ground 309 62 degrees True Date 120598 Ddmmyy Magnetic Variation degrees Variation sense E east or W west Not Shown Mode A A...

Page 19: ...degree Delta Latitude 3 7 ddddddd A use above value to calibrate the DR Latitude 4 A 1 V Do not use The correction of longitude value to calibrate DR position that generated by map Value the unit is 1 0e 6 degree Delta Longitude 5 8 dddddddd A use above value to calibrate the DR Longitude 6 A 1 V Do not use The correction angle COG of current movement to calibrate DR Heading that generated by map ...

Page 20: ... 24 185911 Long 120 29 60 95 88 3600 if S is used Long 1 0 120 5100 Command Description Parameter 156 A para1 288 A para2 10 A para3 Exposition If para1 A Lat Lat 24 1859 156 0 000001 unit degree If para2 A Long Long 120 5100 288 0 000001 unit degree If para3 A Cog Cog 213 19 10 0 1 Converter GPS Info Format Unit DD MMSSSS Description Lat Format DD MMSSSS N S indicator If lat value 0 0 S is used O...

Page 21: ...ommunication 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 The protocol is illustrated as the following Item Field Description 1 Beginning of the sentence 2 PSRF121 Message Header 3 Speed 4 Reverse High normal Low activated 5 CC CR LF Example Example PSRF121 100 1 25 Speed 100...

Page 22: ... illustrated as follows Item Field Description 1 Beginning of sentence 2 PSRF122 Message Header 1 antenna connected 3 GPS antenna status 0 antenna not connected 4 CC CR LF Check Sum and sentence termination delimiter The algorithm of checksum calculation is same With the one to calculate NMEA checksum Example PSRF 122 1 3B CR LF GPS antenna connected Check sum 0x3B RoyalTek Confidential 22 ...

Page 23: ...take place automatically during periods of good GPS reception 9 3 Calibration of DR using digital map information The DR is used to output the navigation data when GPS signal is absent or poor The longer time of losing GPS signal the Gyro precision and odometer would become worse The best way to have better DR performance is to use the digital map information Once the map matching completed it cou...

Page 24: ...r Manual Operation voltage Range 5 0 25 V Temperature 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: ...wa 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 Date Author Change notice 1 0 2009 06 02 May Chen Initial Release Copyright 2009 RoyalTek Company Ltd RoyalTek Confidential 25 ...