Here 4 Main - Here4 RTK GNSS


Here4 RTK GNSS additional features for those keen to experiment, like onboard PWM. Barometer, Space hardened Mag and a full IMU solution,Here4 redefines what to expect from a GPS.

Here4 RTK GNSS additional features for those keen to experiment, It combines flight control and navigation functions into one device. With 8 PWM and BDSHOT outputs, RCIN, Hotshoe and camera trigger. Provide independent solutions for precise mapping and flight control.

The Here4 integrates Drone-lD for flight information sharing and provides additional features for those keen to experiment, like onboard PWM and a full IMU solution.

 *Blue version supports Drone-ID

Here4 GPS Features
  • Equipped with u-blox NEO-F9P L1/L5 RTK multi-constellation GNSS module
  • Built-in STM32H757 dual-core processor, combination of RM3100 magnetic compass and IMU: ICM42688
  • With flight control and navigation functions.
  • DRONECAN FD communication protocol, 
Comparison of Here3 & Here3+ & Here4
ModelHere 3Here3+Here4
Receiver Typeu-blox high precision GNSS modules (M8P-2)u-blox high precision GNSS modules (M8P-2)u-blox high precision GNSS modules(NEO-F9P)
Satellite ConstellationGPS L1C/A, GLONASS L1OF, BeiDou B1IGPS L1C/A, GLONASS L1OF, BeiDou B1IB1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5
Positioning accuracy3D FIX: 2.5 m / RTK: 0.025 m3D FIX: 2.5 m / RTK: 0.025 m0.01 m + 1 ppm CEP
IMU sensorICM20948ICM42688,RM3100ICM42688+RM3100
Navigation Update Rate8 Hz8 Hzup to 20 Hz
Communication ProtocolDroneCAN 1Mbit/sDroneCAN 8Mbit/sDroneCAN 8Mbit/s
Operating Temperature-40℃ to 85℃-40℃ to 85℃-40℃ to 85℃
Dimension68mmx68mmx16mm68mmx68mmx16mm16 x 68 mm
Weight48.8g51.8g60g (with cable)

Here4 gps - Here4 RTK GNSS

Here4 GPS Parameter

Hardware Parameters

GNSS moduleNEO-F9P L1/L5 (u-blox F9P High precision GNSS module)
ProcessorSTM32H757 dual-core processor
IMU sensorICM42688+RM3100
Communication ProtocolDroneCAN 8Mbit/s
Receiver typeDual-band GNSS high precision receiver
GNSS systemsGPS, GLONASS, Galileo and BeiDou + SBAS and QZSS
Satellite bandsB1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5
Maximum GNSS systems4
Navigation update rate(RTK)up to 20 Hz
Positioning accuracy0.01 m + 1 ppm CEP
Maximum speed500 m/s
Convergence time(RTK)< 10 sec
AcquisitionCold starts 25s Aided start 2s Hot start 2s

Tracking & Navigation: –167 dBm Cold starts: –148 dBm Hot starts: –157 dBm

Reacquisition: –160 dBm

AntennaDual-band antenna
ProtocolsNMEA、UBX binary、RTCM 3.3、SPARTN 2.0.1
Anti-spoofingAdvanced anti-spoofing algorithms
u-blox NEO-F9P GNSS

The new NEO-F9P GNSS module can receive GPS, Galileo and Beidou signals at the same time. It is a high-precision multi-band RTK differential positioning and navigation module with short convergence time and reliable performance. The module provides centimeter-level accuracy within seconds and has the smallest high-precision module size to date.

Dual-core processing chip

Here4 has a built-in STM32H757 dual-core high-performance data processing chip, which uses the Cortex-M7 core, which can realize high-speed data processing and computing, making data processing and optimization more real-time and performance more stable. The selection of RM3100 magnetic compass and ICM42688 has better anti-interference performance and can meet more application scenarios.

Both navigation and flight control

Here4 is not just for navigation, it can also be used as a flight controller. The future Here4 can support PWM signal output, which can control the operation of motors, servos and other components. Both flight control and navigation capabilities, and highly integrated functions, can reduce the space occupation and weight of the entire system, and at the same time reduce failures caused by communication problems between different modules, thereby enhancing the reliability and data sharing capabilities of the entire system.

Open source platform firmware

CubePilot Here4 Multiband RTK GNSS adopts the reliable DRONE CAN communication protocol, which has strong anti-interference ability and high real-time performance, which can ensure fast and stable transmission. The open source firmware based on the AP-Periph platform allows users to better carry out secondary development and customization to meet more navigation needs.

Supports further expansion/ customization

The reliable DRONECAN FD communication protocol ensures fast (8Mbps) and stable transmission.

Here4 Documentation

Purchase the Here 4 dual-band precision RTK GNSS GPS from World Drone Market.

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