RoyalTek rdr-3200 用户手册

 

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. 

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 

 

12