RoyalTek rdr-3200 用户手册

 

 

The input command is used to let the navigation program send command to DR. 

This MMF command is used to let the navigation program send the map matching 
information to the DR module to update the current position and azimuth angle of device 
using known information. Please refer to section 2.2 Calibration of DR using digital map 
information for further information. 
 
$MMF, Delta_Latitude,A,Delta_Longitude,A,Delta_ Cog,A*ck<CR><LF> 
 
Item Field  Length 

Description 

1 

$ 

1 

Beginning of sentence 

2 MMF 

5  Message 

Header 

The correction of latitude value to calibrate DR 
position that generated by map. Value the unit is 
1.0e-6 degree 

Delta Latitude 

3 

7 

(ddddddd) 

A: use above value to calibrate the DR Latitude

4 A 

1 

V: Do not use. 
The correction of longitude value to calibrate 
DR position that generated by map. Value the 
unit is 1.0e-6 degree 

Delta Longitude 

5 

8 

(dddddddd) 

A: use above value to calibrate the DR 
Longitude 

6 A 

1 

V: Do not use. 
The correction angle (COG) of current 
movement to calibrate DR Heading that 
generated by map. Value the unit is 0.1 degree. 

7 Del_Cog 

4 

A: use above value to calibrate the DR 
Longitude 

8 A 

1 

V: Do not use. 
Check Sum and sentence termination delimiter. 
The algorithm of checksum calculation is same 
with the one to calculate NMEA checksum. 

9 *CC<CR><LF> 

5 

Example: 

Example:  
=> If current DR position is (24.106928 N, 120.299588 E) with COG=213.19 degree 
=> $MMF,156,A,288,A,10,A*2D 
=> It will set the DR position to (24.119842 N, 120.301837 E) with COG = 214.19 degree.

 

19