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 RoyalTek DR protocols are NMEA like protocol to show the DR navigation and
calibration information.
8.1.1 RoyalTek DR protocol – RTOEM,3
This sentence contains the navigation 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
9
Sensor Capture Count
The count of data read count from MCU
10
Odometer Input Source
1: CAN BUS,0: Vehicle’s Odometer PWM
11
DR Status
4: Initialize, 3: GPS Mode, 2:DR Mode
12
Backward Status
1: Activated / 0: Normal
13
Antenna Detecting
1: Available / 0: Abort
14
Gyro Input Voltage
Current Gyro Input voltage and scale is 500:1
15
EKF Odometer scale
The scale factor of odometer pulse. The scale is
cm/pulse
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