# HEX/ProfiCNC Here2 GPS

The Here2 GPS receiver (opens new window) is an update to the Here GPS module from HEX.

Main features include:

  • Concurrent reception of upto 3 GNSS (GPS, Galileo, GLOSNASS, BeiDou)
  • Industry Leading -167 dBm navigation sensitivity
  • Security and integrity protection
  • Supports all satellite augmentation systems
  • Advanced jamming and spoofing detection

# 购买

# 配置

Setup and use on PX4 is largely plug and play.

Note If the GPS is not detected then update the Here2 firmware (opens new window).

# 接线和连接

The Here2 GPS comes with an 8 pin connector that can be inserted directly into the Pixhawk 2 (opens new window) GPS UART port.

The Pixhawk 3 Pro and Pixracer have a 6 pin GPS port connector. For these controllers you can modify the GPS cable (as shown below) to remove pin 6 and 7.

Pin 6 and 7 are for the safety button - these can be attached as well if needed.

# 针脚定义

The Here2 GPS pinout is provided below. 这可用于帮助用户修改接口线序以适配其它自动驾驶仪板的连接器。

引脚 Here2 GPS 引脚 Pixhawk 3 Pro GPS
1 VCC_5V 1 VCC
2 GPS_RX 2 GPS_TX
0 GPS_TX 3 GPS_RX
4 SCL 4 SCL
5 SDA 5 SDA
6 BUTTON - -
7 BUTTON_LED - -
8 GND 6 GND

# 技术规范

  • Processor: STM32F302
  • Sensor
    • Compass, Gyro, Accelerometer: ICM20948
    • Barometer: MS5611
  • Receiver Type: 72-channel ublox M8N engine, GPS/QZSS L2 C/A, GLONASS L10F, BeiDou B11, Galileo E1B/C, SBAS L1 C/A: WAAS, EGNOS, MSAS, GAGAN
  • Navigation Update Rate: Max: 10 Hz
  • Positionaing Accuracy: 3D Fix
  • Time to first fix:
    • Cold start: 26s
    • Aided start: 2s
    • Reacquisition: 1s
  • Sensitivity:
    • Tracking & Navigation: -167 dBm
    • Hot start: -148 dBm
    • Cold start: -157 dBm
  • Assisted GNSS
    • AssistNow GNSS Online
    • AssistNow GNSS Offline (up to 35 days)
    • AssistNow Autonomous (up to 6 days)
    • OMA SUPL& 3GPP compliant
  • Oscillator: TCXO (NEO-8MN/Q)
  • RTC crystal: Build in
  • ROM: Flash (NEO-8MN)
  • Available Antennas: Active Antenna & Passive Antenna
  • Signal Integrity: Signature feature with SHA 256
  • Protocols & Interfaces:
    • UART/I2C/CAN: JST_GH Main interface, Switch internally.
    • STM32 Main Programming Interface: JST_SUR