RDR-3100 User Manual
RDR-3100
User Manual
Version 1.5
2008/04/29
This document contains information highly confidential to RoyalTek Company LTD
(RoyalTek). It is provided for the sole purpose of the business discussions between
customer and RoyalTek and is covered under the terms of the applicable Non-
Disclosure Agreements. Disclosure of this information to other parties is prohibited
without the written consent of RoyalTek.
Prepared by
RoyalTek Company LTD.
4F, No. 188, Wen Hwa 2nd Rd.,
Kuei-Shan, Tao-Yuan 333, Taiwan
TEL: 886-3-3960001
FAX: 886-3-3960065
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1. Introduction
RoyalTek RDR-3100 is the newest generation of RoyalTek GPS module integrated Dead
Reckoning technology. The RDR-3100 includes dead reckoning sensors to track your
vehicle's course when your GPS signal is blocked for example in urban areas or tunnels. If
you lose GPS coverage in areas with tall buildings or tunnels, the RDR-3100 keeps on
navigating.
This document describes the recommended schematic and layout design of gyro and odometer
circuit, and is designed to operate with RDR-3100 algorithm correctly. This document also
describes the application of DR protocol and illustrates how to optimize the performance of
DR using known digital map information.
2. Product Feature
²
²
²
²
²
20 parallel channels
Screw holes type
Newest generation of RoyalTek GPS module integrated Dead Reckoning technology
Keep on producing an accurate position after loosing contact to the GPS satellites.
Enhanced algorithm for navigation stability and minimizes the effects of GPS outages,
And provide improved position accuracy in urban environments.
Excellent sensitivity for urban canyon and foliage environments.
²
²
²
2.1 Product Applications
Automotive navigation
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3. Specification
GPS Module
- REB-3570 /LP
GPS Chipset
Frequency
Channel
- Star III GPS Gsc3f/LP chipset
- L1 1,575.42 MHz
- 20 channels
C/A Code
- 1,023 MHz
chipset Fix time
(Open sky)
- Reacquisition: less than 0.1s
- Hot start: 1 sec
- Warm start: 35 sec
- Cold start: 35 sec
Accuracy
- Position: within 10m for 90%
- Velocity: 0.1m/s
Interface Protocol
- NMEA 0183 ver 3.0, GGA, GSA, GSV (5), RMC
- SiRF Protocol + DR protocol + Map Matching Protocol
- 4800 bps, 8 data bits, no parity, 1 stop bits
- Default is Disable
DGPS
WAAS
- Default WAAS is Disable
Dynamics
Altitude
Velocity
MCU
- 18,000 meter maximum
- 514 meter/second maximum
- Silicon Lab C8051F353
Antenna
Active Antenna RF - MCX (Male Head), 180 degree 8mm (standard)
Connector
- Option for any kind of RF Connector
External
Antenna - Recommend using 2.7V~3.3V
input Voltage
Power
Voltage Type
- DC +5V ± 1%
Screw Hole type
Antenna Detect function
GPIO; Follow customer GPS antenna detector protocol
Port 2 baud Rate: 38400bps
1: YES / 0:NO
Interface
Connector
20 Pin Header，2.0 mm pitch (J2) Male seat
Physical and Environment
Dimension
Weight
- 71±0.3mm(L) x 40.8±0.3mm(W) x 18.6mm±0.3mm (H)
- ≦17(g)
Temperature
- Operating : -40 ~ 85℃
- Storage : -40 ~ 85℃
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4. Reference design of Gyro and Odometer circuit design
4.1 System Block Diagram
+5V
12V input
Convert
Interface
RTC +3.3V
TX +3.3V
RX +3.3V
Boot +3.3V
TX +5V
RX +5V
Boot +5V
Odometer +3.3V
Back +3.3V
Odometer +12V
Back +12V
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4.2 Application Circuit
Figure 1 illustrates the proposed schematic diagram of Gyro, odometer and RDR-3100. RDR-3100 supports the Gyro, Panasonic EWT S84/86.
Please care about the ground partition design among Gyro circuit, RDR-3100 and odometer input. It would be better to use 2 kinds of ground.
The input of odometer is around 12V typically. It transfers the voltage level to accommodate the I/O voltage level of RDR-3100. The photo
coupling transistors also isolate the noise of car from the RDR-3100 system.
The power of the gyro is 5Vwhich is different from the power of RDR-3100. Please use a separate analog ground for gyro. And please keep high
speed signal away from the signal path of gyro and power when doing layout.
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5. HW Interface
5.1 Connector Type：20 Pin Header，2.0 mm pitch (J2)
Pin Signal Name I/O Description
NO
Characteristics
1
2
3
N.C
None connector
GPS 5V
RTC (Backup
voltage)
GPS 5V
Reset
Boot
Back (Reverse
line)
I
I
+5V DC Power Input
User Supply DC +2.6 ~
+3.6V
+5V DC Power Input
Reset (Active low)
DC +5V ± 1%.
DC +2.6 ~ +3.6V.
Current £ 10uA w/o battery
4
5
6
7
I
I
I
I
VIH > 2.3V VIL < 0.8V
3.15 ³ VIH ³ 1.995V
Boot mode
Forward or Back
-0.3V £ VIL £ 0.855V
Forward (Hi level :>2V)
Backward (Lo level: <0.8V)
8
9
N.C
Odometer
None connector
Odometer
I
Input frequency<4k HZ
Vih > 2V Vil<0.8V
Reference Ground
10 GND
G
Ground
2.85V ³ VOH ³ 2.375V
VOL £ 0.715V
11 TXD1 (SiRF 3 O NMEA (transmit) Car PC
TXD1)
(UAR1)
4800bps, 8 data bits, no
parity, 1 stop bit
NMEA (Receive) Car PC
(UAR1)
3.15V ³ VIH ³ 1.995V
-0.3V £VIL £ 0.855V
12 RXD1 (SiRF 3 I
RXD1)
13 GND
G
Ground
Reference Ground
14 TXD2 (SiRF 3 O Can bus data (transmit) Vih > VDD-0.1V Vil<0.6V
TXD2)
Car PC (UAR2)
VDD:3.3V for MCU
15 RXD2 (SiRF 3 I
RXD2)
Can bus data (Receive) Vih > 2V Vil<0.8V
Car PC (UAR2)
16 GND
17 GND
18 GND
19 N.C
G
G
G
Ground
Ground
Ground
NC
Reference Ground
Reference Ground
20 N.C
NC
l
l
l
l
GPS_5V
This is the DC power supply input pin for system. .
GND
GND provides the reference ground.
BOOT
Set this pin to high for programming flash.
RXD1
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This is the main receiver channel and is used to receive software commands to the
board from SIRFdemo software or from user written software.
RXD2
l
l
This is the auxiliary receiving channel communicated with car pc with can bus
TXD1
This is the main transmitting channel and is used to output navigation and
measurement data to SiRFdemo or user written software.
TXD2
l
l
l
This is the auxiliary transmitting channel communicated with car pc with can bus
ODOMETER
This pin provides for connecting to odometer.
RTC (Backup voltage)
This is the battery backup input that powers the SRAM and RTC when main power is
removed. Typical current draw is 10uA.
The supply voltage should be between 2.5V and 3.6V.
BACK (Backward)
l
l
This pin provides for connecting to backward signal.
RESET
This pin provides an active-low reset input to the board. It causes the board to reset
and start searching for satellites. If not utilized, it may be left open.
5.2 RF connector type: MCX STRAIGHT PCB JACK (J1)
RF IN:
This pin receives GPS analog signal. The line on the PCB between the antenna (or
antenna connector) has to be a controlled impedance line (Microstrip at 50Ω). This pin
can provide maximum power 30mA @ 2.85V for active antenna.
6. Product Picture
TOP:
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Bottom:
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7. Mechanical Layout
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8. SW Protocol
8.1 GPS output Protocol
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
GGA
GSA
Description
Global positioning system fixed data
GNSS DOP and active satellites
GNSS satellites in view
GSV
RMC
Recommended minimum specific GNSS data
The RoyalTek DR protocols are NMEA like protocol to show the DR navigation and
calibration information.
8.1.1 RoyalTek DR protocol – RTOEM,3
This sentence contains the navigation and calibration information of DR.
The protocol is illustrated as follows:
Item
Field
Description
1
2
3
4
5
6
$
Beginning of sentence
Message Header
Message ID
Number of SV in use > 3 = 1, other is 0
1.Gyro already calibrated /0: Gyro not calibrated
1: Odometer already calibrated /0: Odometer not
calibrated
RTOEM
3
GPS validated
Gyro Calibrate Status
Odometer Calibrate
Status
7
8
Gyro Input Status
Odometer Input Status
1: Gyro Input available / 0: Gyro Input not available
1: Odometer Input available 0: Odometer Input not
available
9
MCU Read Count
Odometer Input Source
DR position status
Backward Status
The count of data read count from MCU
1: CAN BUS / 0: Vehicle’s Odometer PWM
4: Initial Status /3: GPS Fix /2:DR Mode
1: Activated / 0: Normal
10
11
12
13
Antenna Detecting
1: Available / 0: Abort
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Gyro Offset
Odometer scale factor
The voltage of Gyro input. The unit is 0.002v
The scale factor of odometer pulse. The scale is
cm/pulse
16
17
18
19
Delta angle
Vehicle’s Cog per second (unit = degree)
The pulse count of last second of odometer sensor. The
unit is pulse / second.
The delta distance of last second. (Unit = m / s)
1: Received and executed a map matching sentence; 0:
Not receive any map matching sentence.
Check Sum and sentence termination delimiter. The
algorithm of checksum calculation is same with the one
to calculate NMEA checksum.
Pulse count
Delta distance
Map Matching Status
20
*CC<CR><LF>
Example:
$RTOEM, 3, 1, 1, 1, 1, 1, 10301, 831.95, 29.78, 27.45, 77, 22.93, 0 *50
GPS is validated.
Gyro calibrate / Odometer calibrate / Gyro input is available /Odometer
input is available
MCU Count = 1 / ODO-PWM input /GPS fix /No backward/Antenna is
available
Gyro bias is 831.95 * 0.002 = 1.6639 V
Odometer scale = 29.78 pulse/second
Heading Rate = 27.45 degree
Pulse count of odometer = 77 pulses.
Delta distance = 22.93 m/s.
Received no any map matching command
Check sum = 0x 50.
8.1.2 GGA-Global Positioning System Fixed Data
Table 1-3 contains the values of the following example:
$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18
Table 1-1 GGA Data Format
Name
Example
Units
Description
Message ID
UTC Position
Latitude
N/S Indicator
Longitude
E/W Indicator
Position Fix Indicator
Satellites Used
HDOP
$GPGGA
161229.487
3723.2475
N
12158.3416
W
1
07
1.0
GGA protocol header
hhmmss.sss
ddmm.mmmm
N=north or S=south
Dddmm.mmmm
E=east or W=west
See Table 1-4
Range 0 to 12
Horizontal Dilution of
Precision
MSL Altitude
9.0
meters
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Units
Geoid Separation
Units
M
M
meters
meters
meters
second
Age of Diff. Corr.
Null fields when DGPS is
not used
Diff. Ref. Station ID
Checksum
0000
*18
End of message termination
＜CR＞＜LF＞
Table 1-2 Position Fix Indicators
Description
Value
0
Fix not available or invalid
1
GPS SPS Mode, fix valid
2
3-5
6
Differential GPS, SPS Mode, fix valid
Not Supported GPS PPS Mode, fix valid
Dead Reckoning Mode, fix valid
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8.1.3 GSA-GNSS DOP and Active Satellites
Table 1-5 contains the values of the following example:
$GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
Table 1-1 GSA Data Format
Name
Message ID
Mode 1
Example
$GPGSA
A
Units
Description
GSA protocol header
See Table 1-6
Mode 2
3
See Table 1-7
Satellite Used
Satellite Used
….
07
02
Sv on Channel 1
Sv on Channel 2
….
Satellite Used
PDOP
HDOP
VDOP
Checksum
＜CR＞＜LF＞
Sv on Channel 12
Position Dilution of Precision
Horizontal Dilution of Precision
Vertical Dilution of Precision
1.8
1.0
1.5
*33
End of message termination
Table 1-2 Mode 1
Description
Fix not available
2D
Value
1
2
3
3D
Table 1-3 Mode 2
Value
M
Description
Manual-forced to operate in 2D or 3D mode
A
Automatic-allowed to automatically switch 2D/3D
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8.1.4 GSV-GNSS Satellites in View
Table 1-8 contains the values of the following example:
$GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71
$GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41
Table 1-8 GSV Data Format
Name
Example
Units
Description
Message ID
Number of Messages1
Messages Number1
Satellites in View
Satellite ID
Elevation
Azimuth
SNR (C/No)
….
$GPGSV
2
1
07
07
79
048
42
GSV protocol header
Range 1 to 3
Range 1 to 3
Channel 1(Range 1 to 32)
degrees Channel 1(Maximum 90)
degrees Channel 1(True, Range 0 to 359)
dBHz
Range 0 to 99, null when not tracking
….
Satellite ID
Elevation
27
27
Channel 4(Range 1 to 32)
degrees Channel 4(Maximum 90)
Azimuth
SNR (C/No)
Checksum
138
42
*71
degrees Channel 4(True, Range 0 to 359)
dBHz
Range 0 to 99, null when not tracking
End of message termination
＜CR＞＜LF＞
1Depending on the number of satellites tracked multiple messages of GSV data may
be required.
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8.1.5 RMC-Recommended Minimum Specific GNSS Data
Table 1-9 contains the values of the following example:
$GPRMC,161229.487,A,3723.2475, N,12158.3416,W,0.13,309.62,120598,,,A*10
Table 1-1 RMC Data Format
Name
Message ID
UTC Position
Status
Example
$GPRMC
161229.487
A
Units
Description
RMC protocol header
hhmmss.sss
A=data valid or V=data not
valid
Latitude
3723.2475
ddmm.mmmm
N/S Indicator
Longitude
E/W Indicator
Speed Over Ground
N
N=north or S=south
dddmm.mmmm
E=east or W=west
12158.3416
W
0.13
knots
Course Over Ground 309.62
degrees
True
Date
120598
Ddmmyy
Magnetic Variation
Variation sense
degrees
E=east or W=west(Not
Shown)
Mode
A
A=Autonomous, D=DGPS,
E=DR
Checksum
*10
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GPS DR (UART A) Input command
The input command is used to let the navigation program send command to DR.
8.2.1 $MMF
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
1
2
Field
Length
Description
Beginning of sentence
Message Header
$
1
5
MMF
The correction of latitude value to calibrate DR
position that generated by map. Value the unit is
1.0e-6 degree
A: use above value to calibrate the DR Latitude
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 Latitude
(dmmmmmm)
3
4
5
7
1
8
A
Delta Longitude
(dmmmmmm)
A: use above value to calibrate the DR
Longitude
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.
A: use above value to calibrate the DR
Longitude
6
7
8
9
A
1
4
1
5
Del_Cog
A
V: Do not use.
Check Sum and sentence termination delimiter.
The algorithm of checksum calculation is same
with the one to calculate NMEA checksum.
*CC<CR><LF>
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 (24.178370 N, 120.499603 E) with COG = 214.19
degree.
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Transfer Examples:
Original: (24.106928,N,120.299588,E) (213.19)
Result: (to unit = degree)
Get current GPS Position
(Unit = DD.MMSSSS)
Lat = 24 + 10/60 + 69.28/3600 (if S is used, Lat * -1.0)
Long = 120 + 29/60 + 95.88/3600 (if S is used, Long * -1.0)
Converter GPS Info Format
(Unit = degree)
Command Description:
Parameter: (156,A(para1),288,A(para2),10,A(para3))
Exposition:
If para1 = ‘A’, Lat = Lat + 156 * 0.000001(unit = degree)
If para2 = ‘A’, Long = Long + 288 * 0.000001(unit = degree)
If para3 = ‘A’, Cog = Cog + 10 * 0.1
Retrieved MMF Command
Message
Updated GPS Position by
Input MMF Message
Description:
Lat Format: DD.MMSSSS, N/S indicator
(If lat value < 0.0, ‘S’ is used. Other is ‘N’)
Long Format: DDD.MMSSSS, E/W indicator
(If long value < 0.0, ‘W’ is used. Other is ‘E’)
Cog: unit = degree
Converter GPS Info Format
(Unit = DD.MMSSSS)
Waiting for next MMF Command
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8.3 CAN bus (UART B) protocol
The RDR-3100 provides a second port to receive the speed and reverse message from
the input source. If the module receives the following input message then the DR
module will stop reading the speed and reverse message from MCU.
The communication settings:
Baud rate: 38400, n, 8, 1
Update rate: 1 Hz
8.3.1 Speed, Reverse status input Message
This sentence contains the speed and reverse information that read from CAN
bus. The protocol is illustrated as the following:
Item
Field
Description
1
2
3
4
5
$
Beginning of the sentence
Message Header
PSRF121
Speed
Reverse
*CC<CR><LF>
High-normal / Low - activated
Example:
Example:
$PSRF121, 100, 1*25
Speed = 100 * scaled meter/second
Reverse isn’t activated
Checksum = 25
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8.3.2 GPS antenna detection output Message
This sentence contains the GPS antenna detector information which read from
GPS module and send to the CAN bus.
The protocol is illustrated as follows:
Item
Field
Description
Beginning of sentence
Message Header
1
2
$
PSRF122
3
4
GPS antenna status
1: antenna connected
0: antenna not connected
Check Sum and sentence termination delimiter.
The algorithm of checksum calculation is same
With the one to calculate NMEA checksum.
*CC<CR><LF>
Example:
$PSRF 122,1*3B<CR><LF>
GPS antenna connected
Check sum= 0x3B.
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8.4 NMEA Output Message
9 Calibration of DR
9.1 Self calibration of DR
RDR-3100 calibrates the Gyro bias and odometer scale using the information of GPS
satellites automatically. It also updates the position and azimuth using GPS navigation
information automatically. Customer is not required to calibrate the Gyro bias and
odometer scale factor. In respect to the position and azimuth angle, RDR-3100 DR
provides a protocol, which is used to calibrate the position and azimuth angle using
digital map.
9.2 Calibration Criterion
•Keep vehicle in static with 15 seconds at least after power on to retrieve gyro initial
bias
•During normal operation, the calibration of gyro and odometer scale take place
automatically during periods of good GPS reception. 9.3 Calibration of DR
using digital map information
The DR is used to output the navigation data when GPS signal is absent or poor. The
longer time of losing GPS signal, the Gyro precision and odometer would become
worse. The best way to have better DR performance is to use the digital map
information. Once the map matching completed, it could provide useful information
for DR algorithm to continuously output the accurate navigation information as
possible. The PROYRESET is designed for this purpose. Navigation application can
reset the DR position and COG especially when no or poor GPS signal occurs.
Because digital map provides very accurate and stable positioning information, to get
longer and more accurate DR output, please use PROYRESET to achieve it.
9.4 Gyro Electric Characteristics
Gyro Chipset
- Panasonic EWTS86
Operation voltage Range
- +5±0.25 V
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Temperature Range
Zero point voltage
Sensitivity
Frequency response(7Hz)
Output voltage range
Output noise
- -40 ~ 85℃
- +2.5±0.4V
- 25mV/(°/S)
- ＞–4dB
- 0.3~4.7V
- ＜10mVpp
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10. Package Specification and Order Information
格式化: 法文 (法國)
11. Contact Royaltek
格式化: 法文 (法國)
Headquarter:
4F, No. 188, Wen Hwa 2nd Rd., Kuei Shan, Tao Yuan 333, Taiwan
TEL: 886-3-3960001
FAX: 886-3-3960065
12. Revision History
Revision
Number
Date
Author
Change notice
0.1
1.0
2007/03/16 May Chen Initial Release
2007/03/21 May Chen V1.0 Release
1.1
1.2
2007/11/22 May Chen V1.1 Release (running change sirf LP chipset)
2008/02/01 May Chen V1.2 Release (company address, Active antenna spec)
Change RTOEM3 Parameter, Map Match Command
1.3
2008/02/15 May Chen Format. CAN bus protocol, GPS DR Input command
Voltage Type
1.4
1.5
2008/02/29 May Chen Add flow chart for 8.2.1
2008/04/29 May Chen Change Company address and add calibration criterion
Copyright © 2005-2008, RoyalTek Company Ltd.
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