RoyalTek PANASONIC GYRO RDR-3200 User manual

RDR-3200 User Manual
RDR-3200 (Panasonic Gyro)
User Manual
Version 1.0
2009/06/02
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.
nd
4F, No. 188, Wen Hwa 2 Rd.,
Kuei-Shan, Tao-Yuan 333, Taiwan
TEL: [phone]
FAX: [phone]
Website: http://www.royaltek.com
Email: http://www.royaltek.com/contact
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Content
1. Introduction....................................................................................................3
2. Product Feature ..............................................................................................3
3. Specification ..................................................................................................4
4. Reference design of Gyro and Odometer circuit design................................5
4.1 System Block Diagram (Panasonic SKU) ...........................................................5
4.2 Application Circuit...............................................................................................6
5. Interface .........................................................................................................8
5.1 Connector Type：20 Pin Header，2.0 mm pitch (J2).........................................8
5.2 RF connector type: SMA R/A PCB JACK (J1) ...................................................9
6. Product Picture.............................................................................................10
7. Mechanical Layout.......................................................................................11
8. 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 ........................................................................17
8.1.5 RMC-Recommended Minimum Specific GNSS Data ...................................18
8.2 GPS DR (UART A) Input command ...........................................................19
8.2.1 $MMF .............................................................................................................19
8.3 CAN bus (UART B) protocol ............................................................................21
8.3.1 Speed, Reverse status input Message..............................................................21
8.3.2 GPS antenna detection output Message..........................................................22
8.4 NMEA Output Message...............................................................................23
9 Calibration of DR.........................................................................................23
9.1 Self calibration of DR ........................................................................................23
9.2 Calibration Criterion ..........................................................................................23
9.3 Calibration of DR using digital map information..............................................23
9.4 Gyro Electric Characteristics .............................................................................23
10. Package Specification and Order Information...................................................25
11. Contact Royaltek................................................................................................25
12. Revision History ................................................................................................25

RDR-3200 User Manual
1. Introduction
RoyalTek RDR-3200 is the newest generation of RoyalTek GPS module integrated Dead
Reckoning technology. The RDR-3200 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-3200 keeps on
navigating.
This document describes the recommended schematic and layout design of gyro and odometer
circuit, and is designed to operate with RDR-3200 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
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.
2.1 Product Applications
Automotive navigation
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3. Specification
GPS Chipset - Star III GPS Gsc3f/LPX chipset
Frequency - L1 1,575.42 MHz
Channel - 20 channels
C/A Code - 1,023 MHz
chipset Fix time - Reacquisition: less than 0.1s
(Open sky) - 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
DGPS - Default is Disable
WAAS - Default WAAS is Disable
Altitude - 18,000 meter maximum
Velocity - 514 meter/second maximum
MCU - Silicon Lab C8051F353
Antenna
Active Antenna RF
Connector
- SMA R/A PCB JACK (J1)
- Option for any kind of RF Connector
External Antenna
input Voltage - Recommend using 2.7V~3.3V
Power
Voltage Type - DC +5V ± 2%
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 - 71±0.3mm(L) x 40.8±0.3mm(W) x 18.3mm±0.3mm (H)
Weight - ≦19.6(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 (Panasonic SKU)
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4.2 Application Circuit
Figure 1 illustrates the proposed schematic diagram of Gyro, odometer and RDR-3200.
RDR-3200 supports the Gyro, Panasonic. Please care about the ground partition design
among Gyro circuit, RDR-3200 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-3200. The photo coupling transistors also
isolate the noise of car from the RDR-3200 system.
The power of the gyro is 5Vwhich is different from the power of RDR-3200. Please use a
separate analog ground for gyro. And please keep high speedy signal away from the signal
path of gyro and power when doing layout.
Figure 1.
Odometer/Reverse Circuit
V_5V
R19
0
V_5V
C11
0.01uF
U4 LTV817S
2 3
41
D1
1N4148
R15 20
V_3V3V_3V3
R17 22K
Q2
2SC2412K
3
2
1
R12
220
R11
1k
R13
220
Odometer
D2
1N4148
R23 0
Q1
2SC2412K
3
2
1
TP32
11
R24 22K
TP31
11
reverse_A/D
R25
100K
Reverse
R14 0
R18
270
R22
100K
C10
0.01uF
odometer_A/D
U5 LTV817S
2 3
41
R47
0
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Figure 2.
Backup Battery Circuit
V_3V3
Battery SCH
PIN3(RTC_3V3)
B1
12
R40 220
2 1
D12
RB705D
TP37
11
3
2 1
D13
RB705D
3
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5. Interface
5.1 Connector Type：20 Pin Header，2.0 mm pitch (J2)
Pin
NO
Signal Name I/O Description Characteristics
1 N.C None connector
2 GPS 5V I +5V DC Power Input DC +5V ± 5%.
3 RTC (Backup
voltage)
I User Supply DC +2.6 ~
+3.6V
DC +2.6 ~ +3.6V.
Current ≤10uA w/o battery
4 GPS 5V I +5V DC Power Input
5 Reset I Reset (Active low) 8.02.3VV VV <>
IH IL
6 Boot I Boot mode VVVV ILIH 855.00.3V-995.115.3 ≤≤≥≥
7 Back (Reverse) I Forward or Back Forward (Hi level :>2V)
Backward (Lo level: <0.8V)
8 N.C None connector
9 Odometer I Odometer Input frequency<4k HZ
Vih > 2V Vil<0.8V
10 GND G Ground Reference Ground
11 TXD1 (SiRF 3
TXD1)
O NMEA (transmit) Car PC
(UAR1)
2
4800bps, 8 data bits, no
parity, 1 stop bit
VVVVV OLOH 715.0375.285. ≤≥≥
12 RXD1 (SiRF 3
RXD1)
I NMEA (Receive) Car PC
(UAR1)
3VVVVV ILIH 855.00.3V-995.115. ≤≤≥≥
13 GND G Ground Reference Ground
14 TXD2 (SiRF 3
TXD2)
O Can bus data (transmit) Vih > VDD-0.1V Vil<0.6V
Car PC (UAR2) VDD:3.3V for MCU
15 RXD2 (SiRF 3
RXD2)
I Can bus data (Receive) Vih > 2V Vil<0.8V
Car PC (UAR2)
16 GND G Ground Reference Ground
17 GND G Ground
18 GND G Ground Reference Ground
19 N.C NC
20 N.C NC
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.
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RXD1
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
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
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 (Reverse)
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: SMA R/A PCB JACK (J1)
RF IN:
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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:
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 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.
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 $ 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
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16 Delta Angle Vehicle’s Cog per second (unit = degree), +:
turn right, ‘-‘: turn left.
The pulse count of last second of odometer
sensor. The unit is pulse / second.
17 Odometer/CAN Bus Pulse Count
18 Delta Distance The delta distance of last second. (unit=meter)
1: Received and executed a map matching
sentence; 0: Not receive any map matching
sentence.
19 Map Matching Status
Check Sum and sentence termination delimiter.
The algorithm of checksum calculation is same
with the one to calculate NMEA checksum.
20 *CC<CR><LF>
Example:
$RTOEM,3,1(X1),1(X2),1(X3),1(X4),1(X5),1(X6)0(X7)3(X8)0(X9)1(X10),831.95(X11),
29.78(X12),27.45(X13),77(X14),22.93(X15),0(X16) *50
X1:GPSisvalidated.
X2:Gyrobiasisinitialized
X3:Odometerscaleisinitialized
X4:Gyroinputsourceisavailable
X5:Odometerinputsourceisavailable
X6:1timeforcapturesensorper
X7:Odometersourceisused
X8:GPSmodeisused
X9:Nobackwardiscaptured
X10:Antennaisavailable
X11:Gyrovoltageis831.95/500=1.6639(V)
X12:EKFodometerscaleparameteris29.78(cm/pulse)
X13:DeltaangelforDeviceisturnright27.45(degree)
X14:Odometercapturepulsecountis77
X15:DeltaDistanceforDeviceis22.93(meter)
X16:NoMMFcommandisaccepted

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 $GPGGA GGA protocol header
UTC Position 161229.487 hhmmss.sss
Latitude 3723.2475 ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 12158.3416 Dddmm.mmmm
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E/W Indicator W E=east or W=west
Position Fix Indicator 1 See Table 1-4
Satellites Used 07 Range 0 to 12
HDOP 1.0 Horizontal Dilution of
Precision
MSL Altitude 9.0 meters
Units M meters
Geoid Separation meters
Units M meters
Age of Diff. Corr. second Null fields when DGPS is
not used
Diff. Ref. Station ID 0000
Checksum *18
End of message termination
＜CR＞＜LF＞
Table 1-2 Position Fix Indicators
Value Description
0 Fix not available or invalid
1 GPS SPS Mode, fix valid
2 Differential GPS, SPS Mode, fix valid
3-5 Not Supported GPS PPS Mode, fix valid
6 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
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Table 1-1 GSA Data Format
Name Example Units Description
Message ID $GPGSA GSA protocol header
Mode 1 A See Table 1-6
Mode 2 3 See Table 1-7
Satellite Used 07 Sv on Channel 1
Satellite Used 02 Sv on Channel 2
…. ….
Satellite Used Sv on Channel 12
PDOP 1.8 Position Dilution of Precision
HDOP 1.0 Horizontal Dilution of Precision
VDOP 1.5 Vertical Dilution of Precision
Checksum *33
End of message termination
＜CR＞＜LF＞
Table 1-2 Mode 1
Value Description
1 Fix not available
2 2D
3 3D
Table 1-3 Mode 2
Value Description
M 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 $GPGSV GSV protocol header
Number of Messages12 Range 1 to 3
1
Messages Number 1 Range 1 to 3
Satellites in View 07
Satellite ID 07 Channel 1(Range 1 to 32)
Elevation 79 degrees Channel 1(Maximum 90)
Azimuth 048 degrees Channel 1(True, Range 0 to 359)
SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking
…. ….
Satellite ID 27 Channel 4(Range 1 to 32)
Elevation 27 degrees Channel 4(Maximum 90)
Azimuth 138 degrees Channel 4(True, Range 0 to 359)
SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking
Checksum *71
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 Example Units Description
Message ID $GPRMC RMC protocol header
UTC Position 161229.487 hhmmss.sss
Status A A=data valid or V=data not
valid
Latitude 3723.2475 ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 12158.3416 dddmm.mmmm
E/W Indicator W E=east or W=west
Speed Over Ground 0.13 knots
Course Over Ground 309.62 degrees True
Date 120598 Ddmmyy
Magnetic Variation degrees
Variation sense 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 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
Longitude6 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
Longitude8 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.
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GetcurrentGPSPosition
(Unit=DD.MMSSSS)
ConverterGPSInfoFormat
(Unit=degree)
RetrievedMMFCommand
Message
UpdatedGPSPositionbyInput
MMFMessage
WaitingfornextMMFCommand
TransferExamples:
Original:(24.106928,N,120.299588,E)(213.19)
Result:(tounit=degree)
Lat=24+10/60+69.28/3600(ifSisused,Lat*‐1.0)=24.185911
Long=120+29/60+95.88/3600(ifSisused,Long*‐1.0)=120.5100
CommandDescription:
Parameter:(156,A(para1),288,A(para2),10,A(para3))
Exposition:
Ifpara1=‘A’ , Lat=Lat(24.1859)+156*0.000001(unit=degree)
Ifpara2=‘A’ , Long=Long(120.5100)+288*0.000001(unit=degree)
If
p
ara3=
‘
A’
,
Co
g
=Co
g(
213.19
)
+10*0.1
ConverterGPSInfoFormat
(Unit=DD.MMSSSS)
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’)
Co
g
:unit=de
g
ree
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