AllyNav R51 User manual

R51GNSSRECEIVER
USERMANUAL
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www.allynav.cn
SHANGHAIALLYNAVTECHNOLOGYCO.,LTD
April 2021

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HANGHAIALLYNAVTECHNOLOGYCO.,LTD
revision history
revision number Revision Notes Revised by date
V 1.0 Publish first draft Zhang Bing April 2021 _
V 1.1 Supplementary solar
controller and
gyroscope
description section
Zhang Bing April 2021 _
forward Word
Introduction
Welcome to the R51 Universal Receiver Product Instruction Manual. This manual mainly takes the R51 receiver as
an example to describe how to install, set up and use this series of products.
Disclaimer
LianShi Navigation Co., Ltd. is committed to continuous improvement of product functions and performance.
Later product specifications and manual contents may be changed accordingly without prior notice, please
understand! If the icons, pictures, etc. in the manual are different from the actual product, please refer to the actual
product. The company reserves the right of final interpretation of all technical parameters and graphic information.
Before using this product, please read this instruction manual carefully. For the loss caused by misoperation of this
product without following the requirements of the instruction manual or failing to correctly understand the
requirements of the instruction manual, LianShi will not be responsible for any loss.
This product is designed to withstand certain harsh environments. However, this device is a high precision
electronic instrument and should be treated with care. Operating or storing the receiver outside the specified
temperature range may damage it.
technical and service
If you have any questions and the product documentation does not provide the relevant information, please contact
your local technical office. Or log on to the LLYNAV website ( http://www. a llynav.cn ) to inquire and download
the latest version of the product and related technical information, or call the national service hotline:
400-1698-003/021-61200180 to contact us, we Will be happy to serve you.
Security Information
Before using the R51 receiver product, please ensure that you have carefully read and understood this user guide
and safety requirements.

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forward Word ............................................................................................ 1
1 Product introduction .............................................................................. 3
1.1 Introduction ....................................................................................................................... 3
1.2 Product Features ................................................................................................................ 3
1.3 Product Parameters Table ................................................................................................. 4
1.4 User Interface .................................................................................................................... 5
1.4.1 Front ....................................................................................................................... 5
1.4.1 Bottom panel .......................................................................................................... 5
1.5 ............................................................................................................................................ 7
1.5.1 Configuration Listing ............................................................................................. 7
1.5.2 Data Line Interface Definition ............................................................................... 7
2 Overview of the configuration instruction set ....................................... 9
3 Data Protocol ....................................................................................... 11
3.1 Gyroscope Data Protocol ................................................................................................ 11
3.1.1 Time output: ......................................................................................................... 11
3.1.2 Acceleration output: ............................................................................................. 12
3.1.3 Angular velocity output: ....................................................................................... 12
3.1.4 Angle output: ........................................................................................................ 13
3.1.5 Magnetic Field Output: ........................................................................................ 13
3.2 Voltage Data Protocol Data Protocol .............................................................................. 14
4 Command configuration example ........................................................ 14
5 Equipment FAQ ...................................................................................
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1Product introduction
1.1 Introduction
The R30 BeiDou/GNSS receiver is a multi-functional high-precision RTK
BeiDou/GNSS receiver independently developed by LianShi Navigation Co., Ltd.. Built-in
high-precision OEM board, full Netcom 4G module, Ethernet communication interface,
high-speed data storage module, CAN data communication, etc., each functional module can
be customized according to customer needs. This receiver has industrial grade design, strong
anti-interference ability and high stability, and is widely used in precision agriculture, driving
test and driving training, surveying and mapping engineering, mechanical control,
high-precision vehicle positioning and navigation, geographic information, deformation
monitoring and other industries.
1.2 Product Features
( 1 ) Using high-precision positioning and orientation GNSS technology, it supports 432
channels.
GPS:L1/L2
GLONASS L1/L2
Galileo E1/E5b
BDS:B1 / B2
( 2 ) Built-in boards are optional and corecom UM482 boards or dream core MXT906B
boards
( 3 ) The output rate of the 9-axis gyroscope is adjustable from 0.1 to 200 Hz, and the
attitude measurement accuracy is static 0.05 degrees and dynamic 0.1 degrees
( 4 ) Support bluetooth wireless access, convenient for user configuration
( 5 ) Support 4G full Netcom
( 6 ) Up to 20HZ data update rate
( 7 ) IP67 waterproof rating
( 8 ) Compact internal shock absorption technology, strong adaptability to vibration and
shock, and high reliability
( 9 ) Built-in solar controller, can connect
4~ 5A 21.6~ 26 V solar panel
( 10 ) The solar panel battery can use lead-acid battery, gel battery
( 11 ) Optional built-in 9.75Ah lithium battery

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1.3 Product parameter table
Displacement measurement
Static relative
positioning accuracy
Horizontal ±(2.5mm+0.5ppm)RMS
Vertical ±(5mm+0.5ppm)RMS
Dynamic relative
positioning accuracy
Horizontal ±(8mm+1ppm)RMS
Vertical ±(15mm+1ppm)RMS
sampling interval
0s~24h
Upload interval
0s~24h
output signal
NB/4G Cat1, PORT (nine-pin aviation plug)
Operating mode
MODE0 debug mode
MODE1 Displacement measurement mode
Data Format
Support RTCM32 and real-time dynamic upload of raw
observation data
Physical Dimensions and Electrical Characteristics
Input voltage
9～26V DC (standard adapt to 12V DC)
Power consumption
≤ 4W (typ.)
physical size
196.5×196.5×129.5mm
weight
1.3kg (without battery)
Lithium Ion Battery
9.75Ah _ _ ( 70.2Wh ) optional
Solar Controller
maximum input voltage of 26V is allowed, and a solar
panel with 4~ 5A 21.6V no-load voltage or close to this
value is recommended
Environmental indicators
Installation method
Standard observation pier, cast-in-place concrete pier, steel
structure, etc.
Operating
temperature
-40~+60 ℃

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1.4 User Interface
1.4.1 Front
1.4.1 Bottom panel
The bottom panel has a nine-pin aviation plug, 6 LED indicators , and a SIM card slot. In order to
achieve IP67 waterproof level, the SIM card baffle is fixed with 2 screws

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Power light: red and blue flash alternately when power on
Differential light red: (monitoring mode is disabled)
4G light red: 4G is not online, flashes every 5s , and flashes every 1s after going online.
Differential data status light red (monitoring mode is disabled)
Storage light red : (Monitoring mode is disabled)
bluetooth light is red : the bluetooth is not connected and flashes once for 3 s, and the
bluetooth flashes twice for 1 s after the bluetooth is connected.
SIM card : Use a NANO SIM card, with the chip facing down
PORT nine -pin aviation plug: used for 12V DC power input and one R S232
communication serial port.

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1. 5 Accessories
This chapter provides accessory information. Before starting the installation, make sure
that all accessories used in the project meet specifications and standards.
1.5.1 Configuration List
name quantity picture
R 51 Universal Receiver
(Host)
1 pcs
Nine core aviation plug power
cord
1 pcs
Nine core aerial plug setting
line
1pcs
1.5.2 Data line interface definition
nine -core aerial plug setting line mainly includes 1 DC power port, 2 R S232 serial ports
The nine-core aviation plug power cord includes a solar power supply interface and a
battery power supply interface

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Defined as follows
R51 universal receiver P ORT nine-core aviation plug pin definition
Aviation PIN
sequence (male)
definition
1
POWER+
2
POWER -
3 SOLAR +
4 L E_AC BAT
5 R S232 RX
6 RS232TX _
7 G ND
8 G ND
9 P_ON _
Nine-core aerial plug power cord P IN pin definition
Aviation PIN
sequence (female)
definition
1 (empty )
2 (empty )
3
SOLAR + (Solar Anode)
4
B AT+ (battery positive)
5 (empty )
6 (empty )
7
SOLAR- (Solar Negative )
8
B AT- (battery negative
electrode)
9 (empty )
Nine-core aerial plug setting line P IN pin definition
Aviation PIN
sequence (female)
definition
1 DC 12V positive
2 D C 12V negative pole
3 COM RS232B
4 (empty )
5 C ONFIG RS232 B
6 C ONFIG RS232A
7
COM RS232A
8 (empty )
9 (empty )
PORT RS232: Various parameters of the receiver can be configured through the serial

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port tool, the default baud rate is 115200 .
2 Overview of the configuration instruction set
System debugging instructions
S ET UART CONFIG Open system configuration
M ODE0 Switch to debug mode
M ODE1 Switch to monitoring work mode
C ONCOM12 Connect to G NSS board debug interface
C ONCOM13 Connect the gyroscope debugging interface
C ONCOM14 Connect 4G network module debugging interface
C ONCOM15 System debugging interface and Bluetooth transparent transmission
C ONCOM25 Transparent transmission between G NSS board and Bluetooth module
B ATTIME60 Set the time interval for uploading power information, once every 60
seconds; the setting range is 0 ~ 255 seconds
S AVE LIST save system configuration
G NSS board debugging instructions
U NLOGALL Turn off all outputs of the G NSS board
L OG RANGEB ONTIME 1 Hz raw observation data in binary format
L OG RANGEA ONTIME 1 Output 1 Hz raw observation data in ASCII format
LOG GPSEPHEMB ONTIME 300 GPS ephemeris in binary format , every 300 seconds
LOG BD2EPHEMB ONTIME 300 DS ephemeris in binary format , every 300 seconds
LOG GLOEPHEMERISB
ONTIME 300
GLO ephemeris in binary format , every 300 seconds
LOG GPSEPHEMA ONTIME 300 Output GPS ephemeris in ASCII format , every 300 seconds
M ODE ROVER
Converting from Base Mode to Rover Mode
L OG GPGGA ONTIME 0.5 Output G PGGA statement 2 Hz
MASK 15 Set the satellite altitude cutoff angle to 15 degrees
SAVECONFIG Save the board configuration
Gyro debugging instructions
41 6C 6C 79 02 FF AA 03 03 00 Modify the output frequency of the gyroscope with ID number 0 2 to 1 Hz
(H EX send )
41 6C 6C 79 02 FF AA 0 4 0 6 00 Modify the baud rate of the gyroscope serial port with ID number 0 2 to
115200 (sent by H EX )
41 6C 6C 79 02 FF AA 2D FF 00 Modify the ID number of the gyroscope whose ID number is 0 2 to FF ;
allow the modification range of 0 0 ~ FF (H EX send)
4G network debugging instructions
SETG3CONFIG _ Turn on 4G configuration state
SETG3MODE0 _ 4 G module switches to debug mode
SETG3IP0192.168.1.100 _ Set the TCP server IP to 1 92.168.1.100

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SETG3PORT01002 _ Set the TCP server port to 1002
SETG3MODE2 _ Set 4G as TCP transparent transmission working mode
SETG3QUIT _ Save and exit the 4G configuration state, and the 4G configuration
parameter information will pop up
Detailed explanation of gyroscope configuration instructions:
First adjust the display interface to H EX display, the ID of the gyroscope can be queried in the
data 4 1 6C 6C 79 __ field spit out from the serial port .
Commands are sent in hex
ID number of the gyroscope module whose ID is 02 to FF. The command is as follows :
Input example: 41 6C 6C 79 02 FF AA 2D FF 00
The red font is the gyroscope ID; the blue font is the modification ID option; the green font is the
ID to be written
Modify the frequency of the serial port output data of the device whose gyroscope ID is 02 to
50 Hz. The command is as follows :
Input example: 41 6C 6C 79 02 FF AA 03 08 00
The red font is the gyroscope ID; the blue font is the modification frequency option; the green font
represents the specific output frequency (08=50HZ)
For example , the command to modify the serial port baud rate of the device whose
gyroscope ID is 02 is 115200 is as follows:
Input example: 41 6C 6C 79 02 FF AA 0 4 0 6 00
The red font is the gyroscope ID; the blue font is the option to modify the baud rate; the green font
represents the baud rate to be set (0 6 = 115200 )

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Notice:
1、 Before preparing to modify the parameters of the G NSS board , gyroscope, and 4G
network module, it is necessary to send the system debugging command, connect to the
corresponding debugging interface, and then send the configuration command of the
corresponding module.
2、 If you want to set the parameters of each module of the system through Bluetooth, you need
to send an instruction to connect to the corresponding debugging interface first; for
example, CONCOM25/CONCOM35/CONCOM45 can be configured with GNSS
board/gyroscope/ 4G network module respectively.
3、 After the module parameter configuration is completed, the system debugging command
needs to be sent again, and the device can be switched to the MODE1 working mode before
it can work normally.
4、 System debugging and each module have corresponding save configuration commands.
After debugging, you need to send save commands, otherwise the corresponding
configuration will be invalid after power off.
3 data protocol
3.1 Gyroscope Data Protocol
3.1.1 Time output:
0x55 _ 0x50 _ Y Y M M D D H H M M D D M SL M SH SUM
_
YY : year, year 20YY
MM : month
DD : day
HH : Hour
MM : points
SS : seconds
MS : milliseconds
Millisecond calculation formula:
MS=((MSH<<8)|MSL)
Sum=0x55+0x50+YY+MM+DD+HH+MM+SS+MSL+MSH

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3.1.2 Acceleration output:
0x55 _ 0x51 _ Ax L AxH A y L A y H A zL A zH TL TH SUM
_
Calculation method:
ax=(( AxH <<8)| AxL )/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2)
ay=(( AyH <<8)| AyL )/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2)
a z =(( AzH <<8)| AzL )/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2)
Temperature calculation formula:
T=((TH<<8)|TL) /100 ℃
Checksum:
Sum=0x55+0x51+AxH+AxL+AyH+AyL+AzH+AzL+TH+TL
illustrate:
1. The data is sent in hexadecimal , not ASCII .
2. Each data is divided into low byte and high byte and transmitted in turn, and the two are
combined into a signed short type of data.
For example , the X- axis acceleration data Ax , where AxL is the low byte, AxH is the high byte.
The conversion method is as follows:
Assuming Data is actual data, DataH its high byte part, DataL for its low byte part, So:
Data=(short) ( DataH <<8| DataL ). Here we must pay attention to DataH Need to cast to a signed
first
of the short type of the number is shifted later, and the data type of the Data is also a signed short
type.
This is how negative numbers can be represented.
3.1.3 Angular velocity output:
0x55 0x52 wxL wxH wyL wyH wzL wzH TL TH SUM
Calculation method:
wx =(( wxH <<8)| wxL )/32768*2000( ° /s)
wy =(( wyH <<8)| wyL )/32768*2000( ° /s)
wz =(( wzH <<8)| wzL )/32768*2000( ° /s)
Temperature calculation formula:
T=((TH<<8)|TL) /100 ℃
Checksum:
Sum=0x55+0x52+wxH+wxL+wyH+wyL+wzH+wzL+TH+TL

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3.1.4 Angle output:
0x55 0x53 RollL RollH PitchL PitchH YawL YawH TL TH SUM
Calculation method:
Roll angle ( x axis) Roll=(( RollH <<8)| RollL )/32768*180( ° )
Pitch angle ( y - axis) Pitch=(( PitchH <<8)| PitchL )/32768*180( ° )
Yaw angle ( z axis) Yaw=(( YawH <<8)| YawL )/32768*180( ° )
Temperature calculation formula:
T=((TH<<8)|TL) /100 ℃
Checksum:
Sum=0x55+0x53+RollH+RollL+PitchH+PitchL+YawH+YawL+TH+TL
Note:
1. The coordinate system used for attitude angle settlement is the northeast sky coordinate system,
and the module is placed in the positive direction , as shown in the figure below.
is the X axis, forward is the Y axis, and upward is the Z axis. The rotation order of the coordinate
system when Euler angles represent the attitude is defined as
zyx, that is, rotate around the z -axis first, then around the y -axis, and then around the x -axis.
2. Although the range of the roll angle is ± 180 degrees, in fact, because the coordinate rotation
order is ZYX , the attitude is expressed.
When , the range of the pitch angle (Y- axis ) is only ± 90 degrees, and when it exceeds 90
degrees, it will change to less than 90 degrees, and at the same time
Make the angle of the X axis greater than 180 degrees. For detailed principles, please refer to
Baidu's Euler angle and attitude representation.
3. Since the three axes are coupled, they will show independent changes only when the angle is
small, and the attitude will be changed when the angle is large.
The angle will be coupled to change, for example, when the Y- axis is close to 90 degrees, even if
the attitude only rotates around the Y - axis, the angle of the X- axis
It will also change greatly, which is an inherent problem of the Euler angle representing the
attitude.
3.1.5 Magnetic field output:
0x55 0x54 HxL HxH HyL HyH HzL HzH TL TH SUM
Calculation method:
Magnetic field ( x - axis) Hx =(( HxH <<8)| HxL )
Magnetic field ( y - axis) Hy =(( HyH <<8)| HyL )
Magnetic field ( z - axis) Hz = (( HzH <<8)| HzL )
Temperature calculation formula:
T=((TH<<8)|TL) /100 ℃
Checksum:

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Sum=0x55+0x54+HxH+HxL+HyH+HyL+HzH+HzL+TH+TL
3.2 Voltage Data Protocol Data Protocol
Voltage data is output in the form of Chinese characters plus decimal values
like:
Solar 12.0, lead-acid battery 8.7, lithium battery 8.4, USB1.5, temperature 36.6
Note:
The charging process of the solar controller is as follows
Solar power allows a maximum input voltage of 26V, and a solar panel with a no-load voltage of
21.6V or close to this value is recommended.
When the solar voltage is greater than 17.2V, the battery starts to be charged. When the battery
voltage exceeds 10.6V, the controllable switch is turned on, the equipment starts to work, and the
internal lithium battery is charged at the same time.
voltage of the built-in lithium battery is greater than 6.2V , the device starts to work.
When there is no built-in lithium battery, and the battery voltage exceeds 10.6V , the device can
be turned on to work.
4 Directive configuration example
Example: Send commands through the RS232 serial port to set the G NSS board to output
10 Hz GPGGA text, modify the gyroscope output frequency to 10 Hz; modify the 4G
network TCP server address and port number; modify the voltage upload time to 60
seconds1 times; the order of sending commands is as follows.
SET UART COFIG
MODE 0
CONCOM12
LOG GPGGA ONTIME 0.1
SAVECONFIG
CONCOM13
//For example, the gyroscope ID is 02 (the following commands are sent in the form of HEX)
41 6C 6C 79 02 FF AA 03 06 00
CONCOM14
SETG3CONFIG

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SETG3IP0 192.168.1.100
SETG3PORT0 8001
SETG3MODE2
SETG3QUIT
B ATTIME60
MODE1
SAVE LIST

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SHANGHAIALLYNAVTECHNOLOGYCO.,LTD
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The command to configure the above parameters using Bluetooth is as follows (first need to
connect to Bluetooth, and send the following commands from the Bluetooth serial port) .
SET UART COFIG
MODE 0
CONCOM25
LOG GPGGA ONTIME 0.1
SAVECONFIG
CONCOM35
//For example, the gyroscope ID is 02 (the following commands are sent in the form of HEX)
41 6C 6C 79 02 FF AA 03 06 00
CONCOM45
SETG3CONFIG
SETG3IP0 192.168.1.100
SETG3PORT0 8001
SETG3MODE2
SETG3QUIT
B ATTIME60
MODE1
SAVE LIST

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SHANGHAIALLYNAVTECHNOLOGYCO.,LTD
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5 Equipment FAQ
fault phenomenon Failure Analysis Cause Solution
Can't find bluetooth ID
phone is too far from the
receiver or the ID is not fully
loaded
mobile phone is close to the
receiver to search again for the
Bluetooth device whose ID
number is the device S N
number
4G does not upload data
The 4G module IP or port
configuration is wrong, and
the 4G SIM card is installed in
the wrong direction
device is in MODE0 debug
mode
Reconfigure the 4G module IP
or port, check whether the SIM
card is installed correctly, and
adjust the device to MODE1
working mode.
Device light is off The power cord is loose or
reversed
Check whether the power cord
is reversed and tightened
The output data is garbled or
all dots
Incorrect baud rate setting Check that the baud rate set by
the computer serial port
receiving program is
consistent with the baud rate
of the device CONFIG .
6 FCC Statement
FCCStatement 
AnyChangesormodificationsnotexpresslyapprovedbytheparty responsible for compliance
couldvoidtheuser’sauthoritytooperatetheequipment.   
This device complies with part 15 of the FCC Rules. Operation is subject to the following two
conditions: 
(1)Thisdevicemaynotcauseharmfulinterference,and  
(2) This device must accept any interference received, including interference that may cause
undesiredoperation.
FCCRadiationExposureStatement:
This equipment complies with FCC radiation exposure limits set forth for an uncontrolled
environment .This equipment should be installed and operated with minimum distance 20cm
betweentheradiator&yourbody.
Note:ThisequipmenthasbeentestedandfoundtocomplywiththelimitsforaClassBdigital
device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable

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protectionagainstharmfulinterferenceinaresidentialinstallation. This equipment
generates,uses and can radiate radio frequency energy and, if not installed and used in
accordance with the instructions, may cause harmful interferencetoradiocommunications.
However,thereisnoguaranteethatinterferencewillnotoccurinaparticularinstallation.Ifthis
equipment does cause harmful interference to radio or television reception, which can be
determined by turning theequipment off and on, the user is encouragedtotrytocorrectthe
interferencebyoneormoreofthefollowingmeasures: 
—Reorientorrelocatethereceivingantenna. 
—Increasetheseparationbetweentheequipmentandreceiver. 
—Connecttheequipmentintoanoutletonacircuitdifferentfromthattowhichthereceiveris
connected. 
—Consultthedealeroranexperiencedradio/TVtechnicianforhelp.