RoyalTek GPS Receiver RDR 3200 User Guide

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.  
4F, No. 188, Wen Hwa 2nd Rd.,  
Kuei-Shan, Tao-Yuan 333, Taiwan  
TEL: 886-3-3960001  
FAX: 886-3-3960065  
Email: http://www.royaltek.com/contact  
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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  
Channel  
- 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  
DGPS  
WAAS  
Altitude  
Velocity  
MCU  
- NMEA 0183  
- Default is Disable  
- Default WAAS is Disable  
- 18,000 meter maximum  
- 514 meter/second maximum  
- Silicon Lab C8051F353  
Antenna  
Active Antenna RF - SMA R/A PCB JACK (J1)  
Connector  
External  
- Option for any kind of RF Connector  
Antenna - Recommend using 2.7V~3.3V  
input Voltage  
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 Header2.0 mm pitch (J2) Male seat  
Physical and Environment  
Dimension  
Weight  
- 71±0.3mm(L) x 40.8±0.3mm(W) x 18.3mm±0.3mm (H)  
- 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 V_5V  
V_3V3  
V_3V3  
R47  
R11  
R12  
220  
R13  
220  
0
1k  
U4  
LTV817S  
4
TP31  
1
R14  
Q1  
0
R15 20  
2
1
2
3
4
3
odometer_A/D  
rev erse_A/D  
R17  
22K  
D1  
2
Odometer  
2SC2412K  
1N4148  
C10  
0.01uF  
R22  
100K  
U5  
LTV817S  
R19  
0
R18  
270  
R23  
0
TP32  
R24  
22K  
D2  
Q2  
2
Reverse  
2SC2412K  
1N4148  
C11  
R25  
0.01uF  
100K  
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Figure 2.  
Backup Battery Circuit  
V_3V3  
Battery SCH  
D12  
TP37  
RB705D  
R40 220  
D13  
RB705D  
B1  
PIN3(RTC_3V3)  
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5. Interface  
5.1 Connector Type20 Pin Header2.0 mm pitch (J2)  
Pin Signal Name  
NO  
I/O  
Description  
Characteristics  
1
2
3
N.C  
None connector  
+5V DC Power Input  
User Supply DC +2.6 ~ DC +2.6 ~ +3.6V.  
+3.6V  
+5V DC Power Input  
Reset (Active low)  
GPS 5V  
RTC (Backup  
voltage)  
GPS 5V  
Reset  
I
I
DC +5V ± 5%.  
Current 10uA w/o battery  
4
5
I
I
V > 2.3V VIL < 0.8V  
IH  
3.15VIH 1.995V  
-0.3VVIL 0.855V  
6
Boot  
I
Boot mode  
7
Back (Reverse)  
I
Forward or Back  
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  
11 TXD1 (SiRF 3  
TXD1)  
G
O
Ground  
NMEA (transmit) Car PC  
(UAR1)  
2.85V V 2.375V  
VOL 0.715V  
OH  
4800bps, 8 data bits, no  
parity, 1 stop bit  
NMEA (Receive) Car PC  
(UAR1)  
3.15V V 1.995V  
- 0.3V VIL 0.855V  
12 RXD1 (SiRF 3  
RXD1)  
I
IH  
13 GND  
14 TXD2 (SiRF 3  
TXD2)  
15 RXD2 (SiRF 3  
RXD2)  
16 GND  
G
O
Ground  
Reference Ground  
Can bus data (transmit)  
Car PC (UAR2)  
Can bus data (Receive)  
Car PC (UAR2)  
Ground  
Vih > VDD-0.1V Vil<0.6V  
VDD:3.3V for MCU  
Vih > 2V Vil<0.8V  
I
G
G
G
Reference Ground  
Reference Ground  
17 GND  
18 GND  
Ground  
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  
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  
1
Field  
Description  
Beginning of sentence  
$
2
RTOEM  
Message Header  
3
3
Message ID  
4
5
6
7
GPS validated  
Number of SV in use > 3 = 1, other is 0  
1.Success, 0: Failed  
1: Success, 0: Failed  
Gyro Bias Initial Status  
Odometer Scale Initial Status  
Gyro Input Status  
1: Available, 0: no input  
8
9
Odometer Input Status  
Sensor Capture Count  
Odometer Input Source  
DR Status  
1: Available, 0: no input  
The count of data read count from MCU  
1: CAN BUS,0: Vehicle’s Odometer PWM  
4: Initialize, 3: GPS Mode, 2:DR Mode  
1: Activated / 0: Normal  
10  
11  
12  
13  
14  
15  
Backward Status  
Antenna Detecting  
Gyro Input Voltage  
EKF Odometer scale  
1: Available / 0: Abort  
Current Gyro Input voltage and scale is 500:1  
The scale factor of odometer pulse. The scale is  
cm/pulse  
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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.  
The delta distance of last second. (unit=meter)  
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.  
17  
18  
Odometer/CAN Bus Pulse Count  
Delta Distance  
19  
20  
Map Matching Status  
*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  
$GPGGA  
161229.487  
3723.2475  
N
Units  
Description  
GGA protocol header  
hhmmss.sss  
ddmm.mmmm  
N=north or S=south  
Dddmm.mmmm  
Message ID  
UTC Position  
Latitude  
N/S Indicator  
Longitude  
12158.3416  
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E/W Indicator  
Position Fix Indicator  
Satellites Used  
HDOP  
W
1
07  
1.0  
E=east or W=west  
See Table 1-4  
Range 0 to 12  
Horizontal Dilution of  
Precision  
MSL Altitude  
Units  
9.0  
M
meters  
meters  
Geoid Separation  
Units  
meters  
meters  
M
Age of Diff. Corr.  
second  
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  
Value  
Description  
0
1
Fix not available or invalid  
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  
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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  
Value  
Description  
1
2
3
Fix not available  
2D  
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  
(ddddddd)  
3
4
5
7
1
8
A
Delta Longitude  
(dddddddd)  
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 (24.119842 N, 120.301837 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) = 24.185911  
Long = 120 + 29/60 + 95.88/3600 (if S is used, Long * 1.0) = 120.5100  
Converter GPS Info Format  
(Unit = degree)  
Command Description:  
Parameter: (156,A(para1),288,A(para2),10,A(para3))  
Exposition:  
Retrieved MMF Command  
Message  
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 para3 = A, Cog = Cog(213.19) + 10 * 0.1  
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  
23  
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Operation voltage Range  
Temperature Range  
Zero point voltage  
Sensitivity  
Frequency response(7Hz)  
Output voltage range  
Output noise  
- +5±0.25 V  
- -40 ~ 85℃  
- +2.5±0.4V  
- 25mV/(°/S)  
- –4dB  
- 0.3~4.7V  
- 10mVpp  
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10. Package Specification and Order Information  
11. Contact Royaltek  
Headquarter:  
Address: 4F., No.188, Wen Hwa 2nd Rd., Kuei Shan, Tao Yuan 333, Taiwan  
TEL: 886-3-3960001  
FAX: 886-3-3960065  
Web Site Customer Service: http://www.royaltek.com/contact  
12. Revision History  
Revision  
Number  
Date  
Author  
Change notice  
1.0  
2009/06/02 May Chen Initial Release  
Copyright © 2009, RoyalTek Company Ltd.  
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