CubePilot Here4 Blue Multiband RTK GNSS with NRF 2.4GHz Radio
by CubePilot

Product Description
The Here4 Blue is a professional-grade multiband RTK GNSS navigation module offering centimeter-level accuracy with exceptional reliability and performance. Equipped with the powerful u-blox F9P dual-band GNSS receiver and a custom high-gain L1/L5 Taoglas antenna, the Here4 Blue delivers fast RTK Fix acquisition and stable positioning even in challenging conditions. It supports a wide range of satellite systems including GPS, GLONASS, BeiDou, Galileo, SBAS, and QZSS.

But the Here4 is more than just a GNSS module. With built-in DroneCAN support, IMU, barometer, hot-shoe and camera trigger, RC input, and up to 8 PWM/BDSHOT outputs, it serves as a compact, self-contained flight and navigation controller for UAVs and mapping platforms.

The Here4 Blue features both NRF 2.4GHz radio and Bluetooth 5.2 support. The NRF 2.4GHz module enables DroneCAN telemetry and Drone-ID broadcasting, typically used for real-time UAV identification or telemetry data in closed systems. Meanwhile, Bluetooth 5.2 enables wireless configuration, data access, or potential firmware updates via compatible BLE devices.

Designed for high-performance applications requiring accuracy and modular integration, the Here4 Blue is the ideal RTK solution for commercial UAV platforms, research applications, and industrial automation.

Key Features

• Professional-grade u-blox F9P GNSS module with dual-band RTK support

• Centimeter-level positioning accuracy with rapid RTK Fix convergence

• Built-in STM32H7 flight controller with AP_Periph DroneCAN firmware

• Integrated IMU (ICM42688 + RM3100), barometer, and DroneCAN interface

• Hot-shoe and camera trigger support

• 8x PWM/BDSHOT outputs

• CAN FD and real-time data transmission

• LED indicators with customizable ProfiLED display modes

• Built-in NRF 2.4GHz radio (DroneCAN/Drone ID telemetry)

• Bluetooth 5.2 for wireless setup and diagnostics

Specifications

• GNSS Module: u-blox NEO-F9P

• Processor: STM32H757

• IMU Sensors: ICM42688 + RM3100

• Barometer: MS5611

• GNSS Systems Supported: GPS, GLONASS, Galileo, BeiDou, SBAS, QZSS

• Satellite Bands: B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5

• Receiver Type: Dual-band, multi-GNSS high precision receiver

• Positioning Accuracy (RTK): 0.01m + 1ppm CEP

• Update Rate: Up to 20Hz

• RTK Convergence Time: <10s

• Acquisition Times:

  • Cold Start: 25s

  • Aided Start: 2s

  • Hot Start: 2s

• Sensitivity:

  • Tracking: –167 dBm

  • Cold Start: –148 dBm

  • Hot Start: –157 dBm

  • Reacquisition: –160 dBm

• Communication: DroneCAN @ 8Mbit/s

• Protocols Supported: NMEA, UBX, RTCM 3.3, SPARTN 2.0.1

• Anti-spoofing: Advanced algorithms

• Interfaces:

  • 8x PWM/BDSHOT outputs

  • RCIN

  • Camera Trigger/Hot-shoe

  • CAN FD

• Form Factor: 16mm x 68mm

• Weight: 60g

What’s Included:

• (1) Here4 Blue GNSS module with integrated dual-band antenna

Here 4 Manual: LINK