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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:GPSisvalidated.
X2:Gyrobiasisinitialized
X3:Odometerscaleisinitialized
X4:Gyroinputsourceisavailable
X5:Odometerinputsourceisavailable
X6:1timeforcapturesensorper
X7:Odometersourceisused
X8:GPSmodeisused
X9:Nobackwardiscaptured
X10:Antennaisav ailable
X11:Gyrovoltageis831.95/500=1.6639(V)
X12:EKFodometerscaleparameteris29.78(cm/pulse)
X13:DeltaangelforDeviceisturnright27.45(degree)
X14:Odometercapturepulsecountis77
X15:DeltaDistanceforDeviceis22.93(meter)
X16:NoMMFcommandisaccepted
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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