Description
MPN: HX4-06216
Manufacturer: CubePilot
Overview
HerePro is a professional High Precision Multi-band RTK Navigation module. It supports various GNSS options such as BeiDou, Galileo, GLONASS, GPS, QZSS. Connecting 2 HerePro modules, as base and rover respectively, can complete a precise Multi-band Multi-GNSS RTK system. The HerePro rover and base are identical in both software and hardware. Parameter setting is the only distinction.
HerePro uses multi-frequency DGNSS signals with advanced algorithms to converge on an RTK Fix in seconds, achieving more reliable centimeter level positioning.
HerePro uses multi-frequency DGNSS signals with advanced algorithms to converge on an RTK Fix in seconds, achieving more reliable centimeter level positioning.
Features
1. Equipped with u-blox F9P, a professional high precision Multi-band RTK navigation module.
2. Powerful processing performance provided by built-in STM32H753 chip. It offers real-time processing and data optimization, and Unmanned Industry standard AP_Periph Firmware. Supports over CAN or USB firmware updates.
3. The tailor-made multi-band antenna from Taoglass supports L1, L2, and E5 frequencies. It features high gain, high sensitivity, and high stability.
4. HerePro base supports both fixed and moving base mode, selectable for different scenarios to maximize performance.
5. HerePro is a base and rover 2-in-1. Functionality switching can be easily done by parameter settings.
6. HerePro uses multi-frequency DGNSS signals with advanced algorithms allowing fast convergence to an RTK Fix, achieving more reliable and stable centimeter level positioning.
7. HerePro module is 15 x 78mm and 101g.
8. 6 - 40V dual and wide range input. Compatible with different voltage levels.Redundant power input for improved safety.
9. Circular LED ring 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.
10. CAN FD, real time, and high transmission rate.
11. Built-in 9-axis IMU. Through future firmware updates, HerePro can achieve tightly coupled DGNSS-INS-fusing solutions.
Specifications
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Features
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Receiver type
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184-channel u-blox F9P
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GNSS systems
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BeiDou, Galileo, GLONASS, GPS, QZSS
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Satellite bands
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BDS B1I B2I, GPS L1C/A L2C, GLONASS L1OF L2OF, GALILEO E1B/C E5b, QZSS L1C/A L2C
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Maximum GNSS systems
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4
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Navigation update rate
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Up to 20 Hz for RTK
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Horizontal and vertical accuracy
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RTK 0.01m +1ppm CEP
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Heading accuracy
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0.4 degrees
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PVT horizontal positioning accuracy
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1.5m CEP
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Maximum altitude
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50,000 m
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Maximum speed
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500 m/s
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Convergence time
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RTK < 10s
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Acquisition
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Cold starts 24s
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Aided starts 2s
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Reacquisition 2s
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Sensitivity
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Tracking & Navigation: –167 dBm
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Cold starts: –148 dBm
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Hot starts: –157 dBm
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Reacquisition: –160 dBm
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Antenna
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Multi-band dual antenna
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Timepulse
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Configurable from 0.25hz to 10mhz
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Protocols
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NMEA、UBX binary、RTCM 3.3
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Anti-jamming
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Active CW detection and removal
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Onboard band pass filter
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Anti-spoofing
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Advanced anti-spoofing algorithms
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Pinout
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Power (XT30)
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x2
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CAN FD
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x2
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USB / GPIO
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x1 / x2
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Others
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SD card
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16G
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Flash
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2M
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RAM
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1M
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Input voltage
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6 V - 40 V (maximum 60V)
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Working Temperature
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-40 °C to +85 °C
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Size
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15 x 78 mm
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Weight
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101g（without cable）
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Documentation:
https://docs.cubepilot.org/user-guides/herepro/herepro-manual
