Here 4 is a professional High Precision Dual-band RTK Navigation module. It supports multiple GNSS options such as BeiDou, Galileo, GLONASS, GPS, QZSS.
The Here 4 utilizes advanced algorithms and multi-frequency DGNSS signals to quickly achieve an RTK Fix within seconds. This results in highly reliable positioning at an accuracy within centimeters.
The Here 4 goes beyond being a simple GNSS module. It combines flight control and navigation functionalities into a single device. With 8 PWM or BDSHOT outputs, an RCIN, Hotshoe, and camera trigger, it offers a self-contained solution for accurate mapping and precise control capabilities.
Features
- Equipped with u-blox F9P, a professional high precision Dual-band RTK navigation module.
- Powerful processing performance provided by a built-in STM32H7 chip. It offers real-time processing and data optimization, and Unmanned Industry standard AP_Periph Firmware.
- The tailor-made Dual-band antenna from Taoglas supports L1and L5 frequencies. It features high gain, high sensitivity, and high stability.
- Here 4 provides built-in Drone-ID feature. *Blue version supports Drone-ID.
- Here 4 uses multi-frequency DGNSS signals with advanced algorithms. This allows fast convergence to an RTK Fix, achieving more reliable and stable centimeter level positioning.
- The Here 4 module is 16 x 68mm and 60g.
- LED 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.
- CAN FD, real time, and high transmission rate.
- Built-in IMU. Through future firmware updates, Here 4 can achieve tightly coupled DGNSS-INS-fusing solutions.
Specifications
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Features
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Text
|
|---|---|
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GNSS module
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NEO-F9P
|
|
Processor
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STM32H757
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IMU sensor
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ICM42688+RM3100
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Barometer
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MS5611
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Communication Protocol
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DroneCAN 8Mbit/s
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Receiver type
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Dual-band GNSS high precision receiver
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GNSS systems
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GPS, GLONASS, Galileo and BeiDou + SBAS and QZSS
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Satellite bands
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B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5
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Maximum GNSS systems
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4
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Navigation update rate（RTK）
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up to 20 Hz
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Positioning accuracy
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0.01 m + 1 ppm CEP
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Maximum speed
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500 m/s
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Convergence time（RTK）
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< 10 sec
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Acquisition
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Cold starts 25s Aided start 2s Hot start 2s
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Sensitivity
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Tracking & Navigation: –167 dBm Cold starts: –148 dBm Hot starts: –157 dBm
Reacquisition: –160 dBm
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Antenna
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Dual band antenna
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Protocols
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NMEA、UBX binary、RTCM 3.3、SPARTN 2.0.1
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Anti-spoofing
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Advanced anti-spoofing algorithm
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