用户手册 — RoyalTek rdr-3100

目录

• Introduction

  3
• Product Feature

  3
• 2.1 Product Applications

  3
• Specification

  4
• Reference design of Gyro and Odometer circuit design

  5
• 4.1 System Block Diagram

  5
• 4.2 Application Circuit

  6
• 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
• Product Picture

  9
• Mechanical Layout

  11
• 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
• 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
• NMEA Output Message

  22
• 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