RoyalTek RDR-3100 User manual

RDR-3100 User Manual
RDR-3100
User Manual
Version 1.8
2008/10/2
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: [phone]
FAX: [phone]
1

RDR-3100 User Manual
2
Content
1. Introduction....................................................................................................3
2. Product Feature ..............................................................................................3
2.1 Product Applications............................................................................................3
3. Specification ..................................................................................................4
4. Reference design of Gyro and Odometer circuit design................................5
4.1 System Block Diagram ........................................................................................5
4.2 Application Circuit...............................................................................................6
5. HW Interface..................................................................................................9
5.1 Connector Type：20 Pin Header，2.0 mm pitch (J2).........................................9
5.2 RF connector type: MCX STRAIGHT PCB JACK (J1) ...................................12
6. Product Picture.............................................................................................12
7. Mechanical Layout.......................................................................................14
8. SW Protocol .................................................................................................15
8.1 GPS output Protocol ..........................................................................................15
8.1.1 RoyalTek DR protocol – RTOEM,3 ...............................................................15
8.1.2 GGA-Global Positioning System Fixed Data .................................................16
8.1.3 GSA-GNSS DOP and Active Satellites ..........................................................18
8.1.4 GSV-GNSS Satellites in View ........................................................................19
8.1.5 RMC-Recommended Minimum Specific GNSS Data ...................................20
8.2 GPS DR (UART A) Input command ...........................................................21
8.2.1 $MMF .............................................................................................................21
8.3 CAN bus (UART B) protocol ............................................................................23
8.3.1 Speed, Reverse status input Message..............................................................23
8.3.2 GPS antenna detection output Message..........................................................24
8.4 NMEA Output Message...............................................................................25
9 Calibration of DR.........................................................................................25
9.1 Self calibration of DR ........................................................................................25
9.2 Calibration Criterion ..........................................................................................25
9.3 Calibration of DR using digital map information..............................................25
9.4 Gyro Electric Characteristics .............................................................................25
10. Package Specification and Order Information...................................................27
11. Contact Royaltek................................................................................................27
12. Revision History ................................................................................................27

RDR-3100 User Manual
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
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
3

4
RDR-3100 User Manual
3. Specification
GPS Module - REB-3570 /LP
GPS Chipset - Star III GPS Gsc3f/LP chipset
Frequency - L1 1,575.42 MHz
Channel - 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
- 38400 bps, 8 data bits, no parity, 1 stop bits
DGPS - Default is Disable
WAAS - Default WAAS is Disable
Dynamics
Altitude - 18,000 meter maximum
Velocity - 514 meter/second maximum
MCU - Silicon Lab C8051F353
Antenna
Active Antenna RF
Connector
- MCX (Male Head), 180 degree 8mm (standard)
- Option for any kind of RF Connector
External Antenna
input Voltage - Recommend using 2.7V~3.3V
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 - 71±0.3mm(L) x 40.8±0.3mm(W) x 18.6mm±0.3mm (H)
Weight - ≦17(g)
Temperature - Operating : -40 ~ 85℃
- Storage : -40 ~ 85℃

RDR-3100 User Manual
4. Reference design of Gyro and Odometer circuit design
4.1 System Block Diagram
RTC +3.3V
Boot +5VBoot +3.3V
TX +5V
RX +5V
TX +3.3V
RX +3.3V
Back +12V
Odometer +12V
12V input
Odometer +3.3V
Back +3.3V
+5V Convert
Interface
5

RDR-3100 User Manual
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.
Figure 2 illustrates the proposed schematic diagram of Backup Battery
6

RDR-3100 User Manual
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
7

RDR-3100 User Manual
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
8

RDR-3100 User Manual
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 ± 1%.
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) 8.02.3VVIH VVIL
>
<
6 Boot I Boot mode VVVV ILIH 855.00.3V-995.115.3 ≥≥
≤
≤
7 Back (Reverse
line)
I Forward or Back Forward (Hi level :>2V)
Backward (Lo level: <0.8V)
8 N.C None connector
9 Odometer I Odometer Input frequency<32k HZ
Vih > 2V Vil<0.8V
10 GND G Ground Reference Ground
11 TXD1 (SiRF 3
TXD1)
O NMEA (transmit) Car PC
(UAR1)
VVOLOH 715.0VVV 375.285.2
38400bps, 8 data bits, no
parity, 1 stop bit
≤
≥≥
12 RXD1 (SiRF 3
RXD1)
I NMEA (Receive) Car PC
(UAR1)
VVVVV ILIH 855.00.3V-995.115.3 ≤≥≥
≤
13 GND G Ground Reference Ground
14 TXD2 (SiRF 3
TXD2)
O Can bus data (transmit)
Car PC (UAR2)
Vih > VDD-0.1V Vil<0.6V
VDD:3.3V for MCU
9

RDR-3100 User Manual
15 RXD2 (SiRF 3
RXD2)
I Can bus data (Receive)
Car PC (UAR2)
Vih > 2V Vil<0.8V
16 GND G Ground Reference Ground
17 GND G Ground
18 GND G Ground Reference Ground
19 N.C NC
20 N.C NC
zGPS_5V
This is the DC power supply input pin for system. .
zGND
GND provides the reference ground.
zBOOT
Set this pin to high for programming flash.
zRXD1
This is the main receiver channel and is used to receive software commands to the board from SIRFdemo software or from user written
software.
zRXD2
This is the auxiliary receiving channel communicated with car pc with can bus
zTXD1
This is the main transmitting channel and is used to output navigation and measurement data to SiRFdemo or user written software.
zTXD2
This is the auxiliary transmitting channel communicated with car pc with can bus
zODOMETER
This pin provides for connecting to odometer.
zRTC (Backup voltage)
10

RDR-3100 User Manual
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.
zBACK (Backward)
This pin provides for connecting to backward signal.
zRESET
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.
J2
CON20-Interface
1 3 5 7 9
11 13 15 17 19
2 4 6 8 10 12 14 16 18 20
11

RDR-3100 User Manual
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:
12

13
RDR-3100 User Manual
Bottom:

RDR-3100 User Manual
7. Mechanical Layout
14

RDR-3100 User Manual
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
15
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 Calibrate Status 1.Gyro already calibrated /0: Gyro not calibrated
6 Odometer Calibrate
Status
1: Odometer already calibrated /0: Odometer not
calibrated
7 Gyro Input Status 1: Gyro Input available / 0: Gyro Input not available
8 Odometer Input Status 1: Odometer Input available 0: Odometer Input not
available
9-1 MCU Read Count The count of data read count from MCU
9-2 Odometer Input Source 1: CAN BUS / 0: Vehicle’s Odometer PWM
9-3 DR position status 4: Initial Status /3: GPS Fix /2:DR Mode
9-4 Backward Status 1: Activated / 0: Normal
9-5 Antenna Detecting 1: Available / 0: Abort

RDR-3100 User Manual
16
10 Gyro Offset The voltage of Gyro input. The unit is 0.002v
11 Odometer scale factor The scale factor of odometer pulse. The scale is
cm/pulse
12 Delta angle Vehicle’s Cog per second (unit = degree)
13 Pulse count The pulse count of last second of odometer sensor. The
unit is pulse / second.
14 Delta distance The delta distance of last second. (Unit = m / s)
15 Map Matching Status 1: Received and executed a map matching sentence; 0:
Not receive any map matching sentence.
16 *CC<CR><LF>
Check Sum and sentence termination delimiter. The
algorithm of checksum calculation is same with the one
to calculate NMEA checksum.
Example:
123 456 789 10 11 12 13 14 15 16
$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 $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
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

RDR-3100 User Manual
17
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
＜CR＞＜LF＞End of message termination
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

RDR-3100 User Manual
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 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
＜CR＞＜LF＞End of message termination
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
18

RDR-3100 User Manual
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
Messages Number11 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
＜CR＞＜LF＞End of message termination
1Depending on the number of satellites tracked multiple messages of GSV data may
be required.
19

RDR-3100 User Manual
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
20