The Here 4 is a professional High Precision Dual-band RTK Navigation module. It supports multiple GNSS options such as BeiDou, Galileo, GLONASS, GPS, and 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, a Hotshoe, and a camera trigger, it offers a self-contained solution for accurate mapping and precise control capabilities.

VIDEO: Setup and configure a CANBus GPS in Mission Planner: Here4 setup guide

• 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.
• 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.
• 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 L1 and L5 frequencies. It features high gain, high sensitivity, and high stability.
• Built-in IMU. Through future firmware updates, Here 4 can achieve tightly coupled DGNSS-INS-fusing solutions.
• Equipped with u-blox F9P, a professional high-precision Dual-band RTK navigation module.
• CAN FD, real-time, and high transmission rate.
• The Here 4 module is 16 x 68mm and 60g.

• GNSS systems: GPS, GLONASS, Galileo, and BeiDou + SBAS and QZSS
• Receiver type: Dual-band GNSS high-precision receiver
• Protocols: NMEA, UBX binary, RTCM 3.3, SPARTAN 2.0.1
• Satellite bands: B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5
• Anti-spoofing: Advanced anti-spoofing algorithms
• Communication Protocol: DroneCAN 8Mbit/s
• Positioning accuracy: 0.01 m + 1 ppm CEP
• Navigation update rate (RTK): up to 20 Hz
• Sensitivity:
  • Tracking & Navigation: –167 dBm
  • Reacquisition: –160 dBm
  • Cold starts: –148 dBm
  • Hot starts: –157 dBm
• Convergence time (RTK): < 10 sec
• IMU sensor: ICM42688+RM3100
• Antenna: Dual-band antenna
• Maximum GNSS systems: 4
• Maximum speed: 500 m/s
• GNSS module: NEO-F9P
• Processor: STM32H757
• Acquisition:
  • Cold starts: 25s
  • Aided start: 2s
  • Hot start: 2s
• Barometer: MS5611

• Manual

• 1x CubePilot Here4 Multiband RTK GNSS Module
• 1x Break Out Board