Here+V2 User Manual


HERE+/HERE+ V2 RTK kit developed by HEX and Ardupilot Team is compatible with Mission Planner, a ground control station for ArduPilot, as well as PX4 and QGroundControl. The kit is the first Differential Global Positioning System (DGPS) module for open source flight controller users.RTK technology provides much more accurate position estimates than regular GNSS systems. Its ideal accuracy can reach up to centimeters, which greatly improve the precision of flight.Being the first RTK positioning system developed for open source community, HERE+ is easy to use. The Here+ GPS kit comes with a base and a rover. The base can work with Mission Planner with minimum setup required. The data communication between rover and base modules is through a pair of telemetry module(not provided in the standard Here+ package).HERE+/HERE+ V2 has a full set of Inertial navigation system (gyroscope, accelerometer, compass and barometer) and GNSS data to acquire more accurate navigation. In the Ardupilot and PX4 firmware, RTK positioning data is fused with build-in Extended Kalman filter (EKF) algorithm for optimized positioning result.