RoyalTek PANASONIC GYRO RDR-3200 - Manual (Page 13)

RDR-3200 User Manual
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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