Справочник Пользователя для RoyalTek rdr-3100
RoyalTek Confidential
2
RDR-3100 User Manual
Content
1.
Introduction ....................................................................................................... 3
2.
Product Feature ................................................................................................. 3
2.1 Product Applications ............................................................................................... 3
3.
3.
Specification...................................................................................................... 4
4.
Reference design of Gyro and Odometer circuit design................................. 5
4.1 System Block Diagram ........................................................................................... 5
4.2 Application Circuit .................................................................................................. 6
5.
4.2 Application Circuit .................................................................................................. 6
5.
HW Interface ..................................................................................................... 8
5.1 Connector Type:20 Pin Header,2.0 mm pitch (J2).......................................... 8
5.2 RF connector type: MCX STRAIGHT PCB JACK (J1) ...................................... 9
6.
5.2 RF connector type: MCX STRAIGHT PCB JACK (J1) ...................................... 9
6.
Product Picture .................................................................................................. 9
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........................................................................... 16
8.1.5 RMC-Recommended Minimum Specific GNSS Data .................................... 17
8.2
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........................................................................... 16
8.1.5 RMC-Recommended Minimum Specific GNSS Data .................................... 17
8.2
GPS DR (UART A) Input command ............................................................. 18
8.2.1 $MMF ................................................................................................................. 18
8.3 CAN bus (UART B) protocol ............................................................................... 20
8.3.1 Speed, Reverse status input Message................................................................ 20
8.3.2 GPS antenna detection output Message............................................................ 21
8.4
8.3 CAN bus (UART B) protocol ............................................................................... 20
8.3.1 Speed, Reverse status input Message................................................................ 20
8.3.2 GPS antenna detection output Message............................................................ 21
8.4
NMEA Output Message.................................................................................. 22
9
Calibration of DR............................................................................................ 22
9.1 Self calibration of DR ........................................................................................... 22
9.2 Calibration Criterion ............................................................................................. 22
9.3 Calibration of DR using digital map information ............................................... 22
9.4 Gyro Electric Characteristics................................................................................ 22
10. Package Specification and Order Information .................................................... 24
11. Contact Royaltek ................................................................................................... 24
12. Revision History.................................................................................................... 24
9.2 Calibration Criterion ............................................................................................. 22
9.3 Calibration of DR using digital map information ............................................... 22
9.4 Gyro Electric Characteristics................................................................................ 22
10. Package Specification and Order Information .................................................... 24
11. Contact Royaltek ................................................................................................... 24
12. Revision History.................................................................................................... 24
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