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13
RDR-3100 User Manual
14 Gyro Offset The voltage of Gyro input. The unit is 0.002v
15 Odometer scale factor The scale factor of odometer pulse. The scale is
cm/pulse
16 Delta angle Vehicle’s Cog per second (unit = degree)
17 Pulse count
The pulse count of last second of odometer sensor. The
unit is pulse / second.
18 Delta distance The delta distance of last second. (Unit = m / s)
19 Map Matching Status
1: Received and executed a map matching sentence; 0:
Not receive any map matching sentence.
20 *CC<CR><LF>
Check Sum and sentence termination delimiter. The
algorithm of checksum calculation is same with the one
to calculate NMEA checksum.
Example:
$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
MSL Altitude 9.0 meters
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