CubePilot HERE 4 Multiband RTK GNSS

The Here 4 offers an accuracy of only a few centimeters. This makes it a professional and highly accurate dual-band RTK navigation module. The Here 4 combines flight control as well as navigation functionalities. In addition, the module supports multiple GNSS options, such as BeiDou, GLONASS, Galileo, GPS and QZSS. It also uses advanced algorithms and multi-frequency DGNSS signals, so the RTK fix can be achieved within seconds. The module is equipped with 8 PWM or BDSHOT outputs, one RCIN, one hotshoe and one camera trigger.

Features

• U-blox F9P
• Integrated STM32H7 chip (real-time processing, data optimization, unmanned industry standard AP_Periph firmware)
• Tailored dual-band antenna by Taoglas - supports L1 and L5 frequencies (high gain, high sensitivity, high stability)
• Integrated Drone-ID function (blue version supports Drone-ID)
• DGNSS signals with multiple frequencies and advanced algorithms - faster convergence to an RTK fix and thus more stable and reliable positioning in the centimeter range
• ProfiLEDs - multiple display modes (selectable via parameters or on-board Lua scripting depending on the Scenario)
• CAN, FD, real time and high transmission rate
• Integrated IMU
• Future firmware updates - Here 4 can achieve tightly coupled DGNSS-INS fusing solutions

Technical data

• 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, Galileo, GLONASS, BeiDou, SBAS, QZSS
• Satellite bands: B1l, B2a, E1B/C, E5a, L1C/A, L1OF, L5
• Max. GNSS Systems: 4
• Navigation update rate (RTK): up to 20 Hz
• Positioning accuracy: 0,01m + 1ppm CEP
• Max. Speed: 500 m/s
• Convergence time (RTK): < 10 sec
• Acqisition: Cold start: 25s | aided start: 2s | hot start: 2s
• Sensitivity:
  • Tracking&Navigation: -167 dBm
  • Cold start: -148 dBm
  • Hot start: -157 dBm
  • Reaqisition: -160 dBm
• Antenna: Dual band antenna
• Protocols: NMEA, UBX binary, RTCM 3.3, SPARTN 3.0.1
• Anti-spoofing: advanced anti-spoofing algorithms
• Dimension: 16 x 68mm
• Weight: 60g

Scope of delivery

• Here 4