CubePilot Here4 Blue Multiband RTK GNSS with NRF 2.4GHz Radio

The Here4 Blue is a multiband RTK GNSS module built for heavy-lift platforms, autonomous agriculture drones and survey rigs running ArduPilot or PX4, combining a u-blox NEO-F9P receiver with an onboard NRF 2.4GHz radio and Bluetooth 5.2 for Remote ID.

Key features

• u-blox NEO-F9P dual-band (L1/L5) RTK receiver tracks GPS, GLONASS, Galileo, BeiDou, SBAS and QZSS for centimetre-level accuracy with fast satellite lock.
• RM3100 compass plus ICM42688 IMU and an MS5611 barometer improve heading and motion tracking.
• DroneCAN FD (up to 8Mbps) replaces UART wiring with a single reliable CAN bus link, alongside PWM, RC input and camera-trigger I/O.
• Bluetooth 5.2 handles Remote ID broadcasting, separate from the onboard NRF 2.4GHz radio.
• Advanced anti-spoofing algorithms and support for NMEA, UBX, RTCM 3.3 and SPARTN 2.0.1 protocols.

Specifications

• Processor: STM32H757 (dual-core)
• GNSS receiver: u-blox NEO-F9P (dual-band L1/L5 RTK)
• Compass: RM3100
• IMU: ICM42688
• Barometer: MS5611
• Positioning accuracy: 0.01m + 1ppm CEP
• RTK update rate: up to 20Hz
• RTK convergence time: under 10 seconds
• Protocol: DroneCAN FD (up to 8Mbps)
• Supported firmware: ArduPilot, PX4
• Operating temperature: -40 to +85 degrees Celsius
• Weight: 60g (with cable)

This module pairs natively with the Cube series of flight controllers, giving builders a plug-and-play positioning solution for reliable autonomous navigation on industrial-grade hardware.