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Here 4 GNSS

The GNSS Here 4 module is the latest version of the famous Cubepilot GNSS range. It offers a very high level of performance and precision and is RTK compatible. It features an RM3100 compass and an F9P GNSS module, further improving the level of performance compared to previous versions.


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The Here4 GNSS module is the latest generation of Cubepilot GNSS (2023). Its processor allows firmware updates and customization. It communicates over CAN protocol. This protocol offers higher data rates, reliability and much greater immunity to external disturbances.
It is equipped with the high-performance F9P GNSS module, as well as an RM3100 compass, known to be much less sensitive to electromagnetic disturbances.

The Here4 has a complete integrated inertial unit consisting of an accelerometer, a gyroscope, a compass and a barometer.

Its design has been optimized to make it dust and water proof. The LEDs have been improved to be even more visible.

– Main Navigation Module: UBlox F9P
– Constellations supported: BeiDou, Galileo, GLONASS, GPS, QZSS
– RTK : Yes – Dual Band L1 / L5
– Max GNS systems : 4
– Satellite bands : B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5
– Processor : STM32H7 supports AP_Periph Firmware
– Internal antenna : Taoglas Dual band L1/L5 (high sensibility)
– Notification LED : Yes – ProfiLed
– Communication Protocol : DroneCAN (8Mbit/s)
– IMU + Compas (ICM42688+RM3100)
– Barometer : MS5611
– Positioning accuracy : 0.01 m + 1 ppm CEP
– Navigation update rate(RTK) : up to 20 Hz
– 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
– Protocols : NMEA、UBX binary、RTCM 3.3、SPARTN 2.0.1
– Anti-spoofing : Advanced anti-spoofing algorithms

  • Here4 GNSS Module
  • Breadboard to use it as independent autopilot
  • Extra cable to use it as independent autopilot
  • Double sided taped foam
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