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HerePro without iStand



MPN: HX4-06216

Manufacturer: CubePilot

 

NDAA 2023 Compliant GNSS/GPS

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.
 

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

Features

Receiver type
184-channel u-blox F9P
GNSS systems
BeiDou, Galileo, GLONASS, GPS, QZSS
Satellite bands
BDS B1I B2I, GPS L1C/A L2C, GLONASS L1OF L2OF, GALILEO E1B/C E5b, QZSS L1C/A L2C
Maximum GNSS systems
4
Navigation update rate
Up to 20 Hz for RTK
Horizontal and vertical accuracy
RTK 0.01m +1ppm CEP
Heading accuracy
0.4 degrees
PVT horizontal positioning accuracy
1.5m CEP
Maximum altitude
50,000 m
Maximum speed
500 m/s
Convergence time
RTK < 10s
Acquisition
Cold starts 24s

Aided starts 2s

Reacquisition 2s
Sensitivity
Tracking & Navigation: –167 dBm

Cold starts: –148 dBm

Hot starts: –157 dBm

Reacquisition: –160 dBm
Antenna
Multi-band dual antenna
Timepulse
Configurable from 0.25hz to 10mhz
Protocols
NMEA、UBX binary、RTCM 3.3
Anti-jamming
Active CW detection and removal

Onboard band pass filter
Anti-spoofing
Advanced anti-spoofing algorithms
Pinout

Power (XT30)
x2

CAN FD
x2

USB / GPIO
x1 / x2

Others

SD card
16G
Flash
2M
RAM
1M
Input voltage
6 V - 40 V (maximum 60V)
Working Temperature
-40 °C to +85 °C
Size
15 x 78 mm
Weight
101g(without cable)

Documentation:

https://docs.cubepilot.org/user-guides/herepro/herepro-manual