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Here4 Multiband RTK GNSS



MPN: HX4-06248

Manufacturer: CubePilot

Overview

Here 4 is a professional High Precision Dual-band RTK Navigation module. It supports multiple GNSS options such as BeiDou, Galileo, GLONASS, GPS, QZSS.

The Here 4 utilizes advanced algorithms and multi-frequency DGNSS signals to quickly achieve an RTK Fix within seconds. This results in highly reliable positioning at an accuracy within centimeters.

The Here 4 goes beyond being a simple GNSS module. It combines flight control and navigation functionalities into a single device. With 8 PWM or BDSHOT outputs, an RCIN, Hotshoe, and camera trigger, it offers a self-contained solution for accurate mapping and precise control capabilities.

Features

1. Equipped with u-blox F9P, a professional high precision Dual-band RTK navigation module.

2. Powerful processing performance provided by a built-in STM32H7 chip. It offers real-time processing and data optimization, and Unmanned Industry standard AP_Periph Firmware.

3. The tailor-made Dual-band antenna from Taoglas supports L1and L5 frequencies. It features high gain, high sensitivity, and high stability.

4. *Blue version supports Drone-ID

5. Here 4 uses multi-frequency DGNSS signals with advanced algorithms. This allows fast convergence to an RTK Fix, achieving more reliable and stable centimeter level positioning.

6. The Here 4 module is 16 x 68mm and 60g.

7. LED embedded with ProfiLEDs. Built-in multiple display modes for notification or navigation signals. Display modes can be selected according to specific scenarios via parameters or onboard Lua Scripting.

8. CAN FD, real time, and high transmission rate.

9. Built-in IMU. Through future firmware updates, Here 4 can achieve tightly coupled DGNSS-INS-fusing solutions.

Documentation

https://docs.cubepilot.org/user-guides/here-4/here-4-manual

Here4 GPS GNSS CubePilot HX4-06248 9359453000015

Centimeter level high-precision positioning: Equipped with the uBlox NEO-F9P L1/L5 RTK Multi Constellation GNSS module. Fastest lock times of any of the standard Here GPS series. Reliable centimeter-level navigation.

More onboard compute and mems: Built-in STM32H757 dual-core processor. The combination of the RM3100 magnetic compass and ICM42688 sensor has better performance in more applications.

Integrated module with multiple features: Here4 is more than a GNSS module. It has both flight control and navigation capabilities. Fitted with 8 PWM or BDSHOT outputs, an RCIN, Hotshoe, and camera trigger, accurate mapping has never been more self-contained.

Supports further expansion/customization: The reliable DRONECAN FD communication protocol ensures fast (8Mbps) and stable transmission. Based on the AP-Periph open source platform, users can better carry out further development and customization.

Specifications

GNSS module
NEO-F9P
Processor
STM32H757
IMU sensor
ICM42688+RM3100
Barometer
MS5611
Communication Protocol
DroneCAN 8Mbit/s
Receiver type
Dual-band GNSS high precision receiver
GNSS systems
GPS, GLONASS, Galileo and BeiDou + SBAS and QZSS
Satellite bands
B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5
Maximum GNSS systems
4
Navigation update rate(RTK)
up to 20 Hz
Positioning accuracy
0.01 m + 1 ppm CEP
Maximum speed
500 m/s
Convergence time(RTK)
< 10 sec
Acquisition
Cold starts 25s Aided start 2s Hot start 2s
Sensitivity
Tracking & Navigation: –167 dBm Cold starts: –148 dBm Hot starts: –157 dBm
Reacquisition: –160 dBm
Antenna
Dual band antenna
Protocols
NMEA、UBX binary、RTCM 3.3、SPARTN 2.0.1
Anti-spoofing
Advanced anti-spoofing algorithms

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