cubepilot 9 - CubePilot Here4 GNSS

CubePilot Here4 GNSS

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 CubePilot Here4 GNSS

Cubepilot 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.

Cubepilot 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 DronelD 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

Model Here 3 Here3+ Here4
Receiver Type u-blox high precision GNSS modules (M8P-2) u-blox high precision GNSS modules (M8P-2) u-blox high precision GNSS modules(NEO-F9P)
Satellite Constellation GPS L1C/A, GLONASS L1OF, BeiDou B1I GPS L1C/A, GLONASS L1OF, BeiDou B1I B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5
Positioning accuracy 3D FIX: 2.5 m / RTK: 0.025 m 3D FIX: 2.5 m / RTK: 0.025 m 0.01 m + 1 ppm CEP
Processor STM32F302 STM32H757 STM32H757
IMU sensor ICM20948 ICM42688,RM3100 ICM42688+RM3100
Navigation Update Rate 8 Hz 8 Hz up to 20 Hz
Communication Protocol DroneCAN 1Mbit/s DroneCAN 8Mbit/s DroneCAN 8Mbit/s
Operating Temperature -40℃ to 85℃ -40℃ to 85℃ -40℃ to 85℃
Dimension 68mmx68mmx16mm 68mmx68mmx16mm 16 x 68 mm
Weight 48.8g 51.8g 60g (with cable)

Here4 GPS Parameter

Hardware Parameters

GNSS module NEO-F9P L1/L5 (u-blox F9P High precision GNSS module)
Processor STM32H757 dual-core processor
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


Here4 gps - CubePilot Here4 GNSScubepilot 9 - CubePilot Here4 GNSS

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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