RDR-3100 User Manual
16
10
Gyro Offset
The voltage of Gyro input. The unit is 0.002v
11
Odometer scale factor
The scale factor of odometer pulse. The scale is
cm/pulse
12
Delta angle
Vehicle’s Cog per second (unit = degree)
13 Pulse
count
The pulse count of last second of odometer sensor. The
unit is pulse / second.
14
Delta distance
The delta distance of last second. (Unit = m / s)
15
Map Matching Status
1: Received and executed a map matching sentence; 0:
Not receive any map matching sentence.
16 *CC<CR><LF>
Check Sum and sentence termination delimiter. The
algorithm of checksum calculation is same with the one
to calculate NMEA checksum.
Example:
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
$
RTOEM
, 3,
1
,
1
, 1,
1
,
1
, 10301,
831.95
,
29.78
, 27.45,
77
,
22.93
, 0
*50
GPS is validated.
Gyro calibrate / Odometer calibrate / Gyro input is available /Odometer
input is available
MCU Count = 1 / ODO-PWM input /GPS fix /No backward/Antenna is
available
Gyro bias is 831.95 * 0.002 = 1.6639 V
Odometer scale = 29.78 pulse/second
Heading Rate = 27.45 degree
Pulse count of odometer = 77 pulses.
Delta distance = 22.93 m/s.
Received no any map matching command
Check sum = 0x 50.
8.1.2 GGA-Global Positioning System Fixed Data
Table 1-3 contains the values of the following example:
$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18
Table 1-1 GGA Data Format
Name Example
Units
Description
Message ID
$GPGGA
GGA protocol header
UTC Position
161229.487
hhmmss.sss
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
Position Fix Indicator 1
See Table 1-4
Satellites Used
07
Range 0 to 12
HDOP 1.0
Horizontal
Dilution
of
Precision
