Here4 Base
Here4 Base by CubePilot is a high‑precision RTK GNSS base station module designed for UAVs and other positioning‑sensitive systems. It supports multi‑constellation and multi‑band GNSS signals (GPS, GLONASS, Galileo, BeiDou, etc.) and delivers centimeter‑level accuracy. It is compatible with both ArduPilot and PX4 flight stacks, and integrates smoothly with common ground control software like Mission Planner and QGroundControl.
Achieve Centimeter-Level Accuracy with the Here4 Base RTK GNSS System
The Here4 Base, a product of CubePilot, compatibile with both Ardupilot and PX4 systems. It also seamlessly interfaces with ground control stations, including Mission Planner and QGroundControl.
Employing RTK (Real-Time Kinematic) technology offers more precise position estimation compared to standard GNSS systems. Its potential for centimeter-level accuracy greatly enhances flight precision.
Furthermore, the Here4 Base is designed for user-friendliness. Setting it up to work with Mission Planner is a straightforward process, requiring minimal configuration. For data communication between rover and base modules, a pair of telemetry modules is required (please note that these modules are not included in the standard package).
Here4 Base Specification
GNSS | BeiDou, Galileo, GLONASS, GPS / QZSS |
Number of concurrent GNSS | 4 Constellations |
GNSS bands | B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5 |
Size | 40mm x 41mm x 11mm |
Weight | 43g（With cable）/ 18g（Without cable) |
Operation temperature | -40 ℃ to 80 ℃ |
Antenna | L1 & L5 SMA connector Antenna (item does not come with external antenna) |
Receiver type | Multi-band GNSS high precision receiver |
Accuracy of time pulse signal | RMS: 30 ns 99%: 60 ns |
Frequency of time pulse signal | 0.25 Hz to 10 MHz (configurable) |
Operational limits | Dynamics: ≤ 4 g Altitude: 80,000 m Velocity: 500 m/s |
Velocity accuracy | 0.05 m/s |
Dynamic heading accuracy | 0.3 deg |
Acquisition
GPS+GLO+GAL+BDS | GPS+BDS+GAL | GPS+GAL | GPS+GLO | GPS+BDS | GPS | |
Cold start | 27s | 28s | 29s | 30s | 27s | 37s |
Hot start | 3s | 3s | 3s | 3s | 3s | 3s |
Aided start | 4s | 4s | 4s | 4s | 4s | 5s |
Max Navigation update rate
GPS+GLO+GAL+BDS | GPS+BDS+GAL | GPS+GAL | GPS+GLO | GPS+BDS | GPS | |
RTK | 7 Hz | 8 Hz | 14 Hz | 15 Hz | 10 Hz | 25 Hz |
PVT | 7 Hz | 8 Hz | 14 Hz | 20 Hz | 11 Hz | 25 Hz |
RAW | 10 Hz | 10 Hz | 20 Hz | 25 Hz | 20 Hz | 25 Hz |
Convergence Time
GPS+GLO+GAL+BDS | GPS+BDS+GAL | GPS+GAL | GPS+GLO | GPS+BDS | GPS | |
RTK | < 12 s | < 12 s | < 12 s | < 12 s | < 12 s | < 30 s |
Horizontal pos. accuracy
GPS+GLO+GAL+BDS | GPS+BDS+GAL | GPS+GAL | GPS+GLO | GPS+BDS | GPS | |
PVT | 1.5 m CEP | 1.5 m CEP | 1.5 m CEP | 1.5 m CEP | 1.5 m CEP | 1.5 m CEP |
SBAS | 1.0 m CEP | 1.0 m CEP | 1.0 m CEP | 1.0 m CEP | 1.0 m CEP | 1.0 m CEP |
RTK | 0.01 m + 1 ppm CEP | 0.01 m + 1 ppm CEP | 0.01 m + 1 ppm CEP | 0.01 m + 1 ppm CEP | 0.01 m + 1 ppm CEP | 0.01 m + 1 ppm CEP |
Vertical pos. accuracy
GPS+GLO+GAL+BDS | GPS+BDS+GAL | GPS+GAL | GPS+GLO | GPS+BDS | GPS | |
PVT | 2.0 m R50 | 2.0 m R50 | 2.0 m R50 | 2.0 m R50 | 2.0 m R50 | 2.0 m R50 |
SBAS | 1.5 m R50 | 1.5 m R50 | 1.5 m R50 | 1.5 m R50 | 1.5 m R50 | 1.5 m R50 |
RTK | 0.01 m + 1 ppm R50 | 0.01 m + 1 ppm R50 | 0.01 m + 1 ppm R50 | 0.01 m + 1 ppm R50 | 0.01 m + 1 ppm R50 | 0.01 m + 1 ppm R50 |
GNSS | GPS+GLO+GAL+BDS | GPS+BDS+GAL | |
Horizontal pos. accuracy | SPARTN CLAS | < 0.10 m CEP 0.04 m CEP | < 0.10 m CEP 0.04 m CEP |
Vertical pos. accuracy | SPARTN CLAS | < 0.20 m R50 0.08 m R50 | < 0.20 m R50 0.08 m R50 |
Convergence time | SPARTN CLAS | < 65 s < 90 s | < 65 s < 90 s |
GNSS | GPS+GLO+GAL+BDS | |
Sensitivity | Tracking and nav | -167 dBm |
Sensitivity | Reacquisition | -160 dBm |
Sensitivity | Cold start | -148 dBm |
Sensitivity | Hot start | -157 dBm |
Full technical documentation
https://docs.cubepilot.org/user-guides/here-4/here-4-base
Here4 Base Package Contains:
- 1 x Here4 Base
- 1 x Base USB cable
Here4 Base does not come with antenna.