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HEX Here4 Open Source Drone High-Precision Differential GPS GNSS Module RTK Pixhawk HX4-06248

Part No.:	HEX-Here4
Manufacturer:	HEX

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Features

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.

- 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.

Product Details

GNSS module：NEO-F9P
Processor：STM32H757
IMU sensor：ICM42688+RM3100
Barometer：MS5611
Communication Protocol：DroneCAN 8Mbit/s
Receiver type：Dual-band GNSS high precision receiver
GNSS systems：GPS, GLONASS, Galileo and BeiDou + SBAS and QZSS
Satellite bands：B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5
Maximum GNSS systems：4
Navigation update rate (RTK)：up to 20 Hz
Positioning accuracy：0.01 m + 1 ppm CEP
Maximum speed：500 m/s
Convergence time (RTK)：< 10 sec
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
Antenna：Dual band antenna
Protocols：NMEA、UBX binary、RTCM 3.3、SPARTN 2.0.1
Anti-spoofing：Advanced anti-spoofing algorithms
CAN：x2（Current firmware only supports CAN1-green、blue、white、grey）
Working Temperature：-40 °C to +85 °C
Size：16 x 68 mm
Weight：60g (with cable)