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Gps Hex Here2

Raffaele Rossi

HEX/ProfiCNC Here2 GPS (Discontinued)

::: warning This has been superseded by the Cube Here 3 :::

The Here2 GPS receiver is an update to the Here GPS module from HEX.

Main features include: - Concurrent reception of up to 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

Where to Buy

Configuration

Setup and use on PX4 is largely plug and play.

::: info - If the GPS is not detected then update the Here2 firmware. - If the GPS is detected but does not work, attempt the process outlined in allocating node uavcan ID. :::

Wiring and Connections

The Here2 GPS comes with an 8 pin connector that can be inserted directly into the Pixhawk 2 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.

Pinout

The Here2 GPS pinout is provided below. This can be used to help modify the connector for other autopilot boards.

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

Specification

  • Processor: STM32F302
  • Sensor
  • Compass, Gyro, Accelerometer: ICM20948
  • Barometer: MS5611
  • Receiver Type: 72-channel u-blox 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

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