Справочник Пользователя для RoyalTek rdr-3200

 

 

2

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 (Panasonic SKU) ...........................................................5 
4.2 Application Circuit...............................................................................................6 
5. 

Interface .........................................................................................................8 

5.1 Connector Type：20 Pin Header，2.0 mm pitch (J2).........................................8 
5.2 RF connector type: SMA R/A PCB JACK (J1) ...................................................9 
6. 

Product Picture.............................................................................................10 

7. 

Mechanical Layout.......................................................................................11 

8. 

SW Protocol .................................................................................................12 

8.1 GPS output Protocol ..........................................................................................12 
8.1.1 RoyalTek DR protocol – RTOEM,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 

Calibration of DR.........................................................................................23 

9.1 Self calibration of DR ........................................................................................23 
9.2 Calibration Criterion ..........................................................................................23 
9.3 Calibration of DR using digital map information..............................................23 
9.4 Gyro Electric Characteristics .............................................................................23 
10. Package Specification and Order Information...................................................25 
11. Contact Royaltek................................................................................................25 
12. Revision History ................................................................................................25