Here4 Multiband RTK GNSS
The Here4 Multiband RTK GNSS gives your drone the centimeter-level positioning that precise mapping demands. Two bands and four satellite systems at once mean a fast, dependable RTK fix, so you spend less time waiting and more time flying the mission. Connect it to your Cube autopilot over DroneCAN, pair it with an RTK base and get navigation you can trust, flight after flight.
Here4 Multiband RTK GNSS – A Professional-Grade High-Precision Navigation Module
The Here4 Multiband RTK GNSS from CubePilot is a dual-band RTK GNSS module built on the u-blox NEO-F9P. It receives GPS, GLONASS, Galileo and BeiDou plus SBAS and QZSS, up to 4 systems at once, on the L1 and L5 bands through a built-in dual-band Taoglas antenna. In RTK mode it reaches 0.01 m + 1 ppm CEP accuracy, gets an RTK fix in under 10 seconds and updates navigation at up to 20 Hz. Inside are an STM32H757 processor, an ICM42688 IMU, an RM3100 magnetometer and an MS5611 barometer. It talks to the autopilot over DroneCAN at 8 Mbit/s (CAN FD), runs AP_Periph firmware, works with ArduPilot and PX4 and supports moving baseline with two units. It measures 16x68mm and weighs 60g with its cable.
Here4 Multiband RTK GNSS Key Features
Centimeter Precision
With RTK corrections the u-blox NEO-F9P positions to 0.01 m + 1 ppm CEP. That is the accuracy precise mapping needs.
Two Bands, L1 and L5
The built-in Taoglas antenna receives both L1 and L5. Multi-frequency signals with advanced algorithms give a fast and reliable RTK fix, in under 10 seconds.
Four Systems at Once
GPS, GLONASS, Galileo and BeiDou plus SBAS and QZSS, up to 4 systems at the same time. The receiver is not limited to GPS satellites alone.
Powerful Processor
An STM32H757 processes data in real time and runs the industry-standard AP_Periph firmware. CubePilot publishes new firmware releases openly on GitHub.
Sensors on Board
An ICM42688 IMU, an RM3100 magnetometer and an MS5611 barometer are built in. With future firmware updates the IMU will allow tightly coupled DGNSS-INS solutions.
Fast Communication
DroneCAN at 8 Mbit/s over CAN FD carries data in real time. Serial and I2C ports are there for additional sensors.
Configurable LEDs
ProfiLED lights have several built-in modes for notifications and navigation signals. You choose the mode with parameters or an onboard Lua script.
Moving Baseline
Two Here4 modules can work together in moving baseline mode. The CubePilot manual gives ready ArduPilot settings for it.
Centimeter-Level Positioning
The u-blox NEO-F9P is an L1/L5 RTK multi-constellation GNSS module with the fastest lock times in the standard Here GPS series, for reliable centimeter-level navigation.
More Computing Power and Sensors
A dual-core 480 MHz / 240 MHz processor works with CubePilot's most accurate magnetometer yet and a precise 6-axis inertial measurement unit, for better performance in more applications.
Navigation and Flight Control in One
CubePilot combines navigation and flight control functions in one device: 8 PWM or BDSHOT outputs, an RCIN, a hot shoe and a camera trigger. Out of the box it works as a DroneCAN GNSS module, and the flight controller function is enabled by flashing ArduPilot with a breakout board, as described in the manufacturer's manual.
Room to Expand
DroneCAN over CAN FD carries data fast (8 Mbit/s) and reliably. The AP_Periph open-source platform lets you develop and customize the module further, and serial and I2C ports take additional sensors.
Why Buy the Here4 Multiband RTK GNSS from Our Store?
The Here4 Multiband RTK GNSS is one of the most popular GNSS modules in our store. You get CubePilot's dual-band RTK receiver with the u-blox NEO-F9P, a built-in L1/L5 antenna and DroneCAN, together with technical support and the rest of the CubePilot ecosystem in one place.
It is built for:
- Accurate mapping from the air
- RTK positioning with a base station: Here4 Base, Here+, HerePro or a local RTK correction service
- Moving baseline with two Here4 modules
- Navigation for Cube autopilots running ArduPilot or PX4
In our store you will also find the Cube autopilots Cube Orange+ and Cube Orange+ IB, the base station Here4 Base and the Remote ID module Cube ID - CAN.
Frequently asked questions - Here4 Multiband RTK GNSS
It works with both. CubePilot names Here+ bases, other u-blox M8P/F9P bases such as HerePro and local RTK correction services. Here+ is L1 only, so it sends only L1 corrections. The Here4 Base provides L1 and L5 corrections, so the Here4 uses both of its bands.
Yes, but not out of the box. It ships with AP_Periph firmware and works as a DroneCAN GNSS module. According to the CubePilot manual, to use it as a flight controller you need a Cube to update the Here4 bootloader, a serial-to-USB converter and a Here4 splitter board, and then you flash ArduPilot onto the Here4.
No. The antenna is built in: a dual-band Taoglas antenna made for this module, receiving L1 and L5 with high gain, high sensitivity and high stability.
The full manual with pinouts, setup and firmware updates for the Here4 is on the manufacturer website: CubePilot Here4 manual
Here4 Multiband RTK GNSS Specification
GNSS Module | u-blox NEO-F9P |
Receiver Type | High-precision dual-band GNSS receiver |
GNSS Systems | GPS, GLONASS, Galileo, BeiDou + SBAS, QZSS |
Concurrent GNSS Systems | Up to 4 |
Satellite Bands | B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5 |
Antenna | Built-in dual-band Taoglas antenna (L1, L5) |
Navigation Update Rate (RTK) | Up to 20Hz |
Positioning Accuracy (RTK) | 0.01m + 1ppm CEP |
RTK Convergence Time | < 10s |
Acquisition Time | Cold start 25s, aided start 2s, hot start 2s |
Sensitivity | Tracking and navigation -167dBm, cold start -148dBm, hot start -157dBm, reacquisition -160dBm |
Maximum Speed | 500m/s |
Protocols | NMEA, UBX binary, RTCM 3.3, SPARTN 2.0.1 |
Anti-Spoofing | Advanced anti-spoofing algorithms |
Moving Baseline | Supported (two Here4 modules) |
Processor | STM32H757 |
IMU | ICM42688 |
Magnetometer | RM3100 |
Barometer | MS5611 |
Communication Protocol | DroneCAN 8Mbit/s |
CAN | CAN FD, 2 ports (current firmware supports one) |
Outputs and Inputs | 8x PWM or BDSHOT, RCIN, hot shoe, camera trigger |
Other Interfaces | UART, I2C |
Power Supply | 5V |
Firmware | AP_Periph (DroneCAN) |
Autopilot Software | ArduPilot, PX4 |
LED | ProfiLED, modes set by parameters or Lua scripts |
Working Temperature | -40 to +85°C |
Dimensions | 16x68mm |
Weight | 60g (with cable) |
Here4 Multiband RTK GNSS Package Includes
- 1x Here4 Multiband RTK GNSS
- 1x Power & Communication Cable
- 1x PCB Communication Board
- 1x Dual-sided Adhesive Foam for Mounting