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Here3+ GPS receiver with iStand
Here3+ GPS receiver with iStand
Here3+ GPS receiver with iStand
Here3+ GPS receiver with iStand
Here3+ GPS receiver with iStand

Here3+ GPS receiver with iStand

  • Cost-effective L1 band RTK support delivers centimeter-level positioning accuracy — making precision-grade GNSS accessible for agriculture, mapping, and autonomous inspection applications.
  • Upgraded STM32H757 dual-core high-performance processor runs a real-time OS with AP_Periph open-source firmware, enabling future updates, customization, and full ArduPilot onboard capability.
  • DroneCAN communication protocol ensures high data integrity, noise immunity, and multi-node bus flexibility — the modern standard for professional drone avionics.
  • Built-in RM3100 magnetometer provides precise, reliable compass heading data that performs consistently even in electromagnetically complex environments near motors and power systems.
  • ICM42688P 6DOF IMU (gyroscope + accelerometer) delivers enhanced navigation fusion and attitude sensing, enabling tighter flight path control and smoother autonomous operations.
Price on request
  • Trusted dealerDirect manufacturer partnership
  • Pan-India deliveryInsured shipping, all states
  • Post-sale supportTraining + service included
Overview

What makes it work

CubePilot Here3+ GPS Receiver with iStand | DroneCAN RTK GNSS | STM32H757 | xBoom India
CubePilot DroneCAN RTK GNSS Module

CubePilot Here3+ GPS Receiver with iStand
Centimeter Precision. DroneCAN. ArduPilot Onboard.

L1 Band RTK · STM32H757 · DroneCAN · RM3100 Magnetometer · ICM42688P IMU · AP_Periph Open-Source Firmware

L1 RTK Centimeter Accuracy DroneCAN ArduPilot Onboard STM32H757 Processor RM3100 Magnetometer ICM42688P 6DOF IMU Open-Source AP_Periph 1-Year Warranty

At a Glance

Here3+ GPS Receiver — Key Specifications

Positioning
L1 RTK SupportCentimeter-level accuracy
Processor
STM32H757High-performance dual-core MCU
Firmware
AP_Periph Open-SourceFuture updates + customization
Communication
DroneCANNoise immune · High data rate
Magnetometer
RM3100Built-in precision compass
IMU
ICM42688P6DOF Gyro + Accelerometer
ArduPilot
Onboard CapableFull ArduPilot support
Design
Improved LEDsEnhanced dust & water resistance
Flight Stack
ArduPilot · PX4CubePilot ecosystem ready
In the Box
Here3+ Module + iStandComplete mounting solution
Warranty
1 YearCubePilot authorized
Brand
CubePilot (Hex)Trusted drone tech brand

Why Here3+

The Next Generation of CubePilot GNSS

The Here3+ is CubePilot's upgraded GPS receiver, combining a high-performance STM32H757 processor, DroneCAN communication, built-in RM3100 magnetometer, and ICM42688P IMU — all running open-source AP_Periph firmware for unmatched flexibility and future-proofing.

L1 RTK Centimeter AccuracyCost-effective L1 band RTK support delivering centimeter-level positioning precision
DroneCAN ProtocolUpgraded from CAN to DroneCAN for improved data integrity, noise immunity, and bus flexibility
STM32H757 Dual-Core ProcessorSignificantly more powerful than the Here3's STM32F302 for faster, more reliable real-time operation
Built-in RM3100 MagnetometerHigh-precision compass module for accurate heading determination independent of GPS signal
Open-Source AP_Periph FirmwareCommunity-backed firmware with full customization support and regular updates from CubePilot
ArduPilot Onboard CapableFully capable of running ArduPilot onboard — a comprehensive navigation solution in one module

A+ Content

Evolved for the Modern Mission.

Here3+ GPS Receiver with iStand front view
L1 RTK Precision

Centimeter-Level Accuracy at a Cost-Effective Price

The Here3+ delivers L1 band RTK positioning that achieves centimeter-level accuracy — a capability previously reserved for high-cost multiband receivers. Whether you're running precision agriculture missions, mapping surveys, or autonomous inspection routes, the Here3+ gives you the positioning confidence you need without breaking the budget.

Paired with a compatible RTK base station, the Here3+ locks in sub-3 cm horizontal accuracy, making it a compelling upgrade for any drone operator seeking tighter positional performance.

Here3+ redesigned body and LED visibility
Redesigned Hardware

New Design. Improved Durability. Better LED Visibility.

CubePilot completely redesigned the Here3+ housing for improved field performance. Enhanced LED indicators make it easy to read GPS lock status and system health at a glance, even in bright sunlight. The new enclosure also delivers improved dust and water resistance compared to previous generations.

The included iStand elevates the module above the drone body, providing optimal sky view for satellite acquisition and reducing electromagnetic interference from motors and power systems below.

Here3+ DroneCAN and sensor suite
DroneCAN + Full Sensor Suite

A Complete Navigation Module in One Package

The Here3+ goes beyond basic GPS by integrating a comprehensive onboard sensor suite: the RM3100 magnetometer for precision compass sensing, and the ICM42688P 6DOF IMU combining gyroscope and accelerometer in one chip. Together, these provide full navigation state awareness that rivals dedicated flight controllers.

DroneCAN communication ensures this data is transmitted reliably and efficiently to the autopilot, with high data rates, noise immunity, and the flexibility to upgrade the entire system through firmware — without hardware replacement.

Here3+ ArduPilot onboard and open-source
Open-Source AP_Periph

ArduPilot Onboard. Open-Source by Design.

The Here3+ runs AP_Periph — the ArduPilot peripheral firmware framework — making it one of the most customizable GPS modules in the CubePilot ecosystem. Users and developers can tailor the firmware to their application, contribute to the community, and benefit from continuous improvements from the global ArduPilot developer base.

The module is fully capable of running ArduPilot onboard, turning it into more than just a GPS — it becomes an intelligent navigation peripheral that can be extended and updated throughout the product lifecycle.

Key Features

Advanced Features for Professional Drone Operations

L1 Band RTK Positioning

Cost-effective L1 RTK support delivers centimeter-level positioning accuracy for precision drone applications without expensive multiband hardware.

DroneCAN Communication

DroneCAN protocol delivers high data rates, noise immunity, real-time capability, and multi-node support — the industry standard for modern drone avionics.

STM32H757 Processor

Powerful dual-core processor running a real-time OS ensures fast, accurate navigation computations with AP_Periph open-source firmware.

RM3100 Magnetometer

Built-in RM3100 compass provides precise, reliable heading data for consistent flight path accuracy in complex electromagnetic environments.

ICM42688P 6DOF IMU

Advanced MEMS gyroscope and accelerometer provides enhanced navigation fusion and attitude sensing for stable, responsive flight control.

ArduPilot Onboard

Fully capable of running ArduPilot onboard — transforming the Here3+ into a comprehensive, programmable navigation peripheral beyond standard GPS.

Full Specifications

Here3+ GPS Receiver — Technical Specifications

SpecificationDetails
GNSS Performance
Positioning TypeL1 Band RTK — Centimeter-Level Accuracy
AccuracyCentimeter-level with RTK base station
Hardware
ProcessorSTM32H757 High-Performance Dual-Core MCU
Operating SystemReal-Time Operating System (RTOS)
FirmwareAP_Periph Open-Source (ArduPilot Peripheral Framework)
Communication ProtocolDroneCAN
Integrated Sensors
MagnetometerRM3100 — High-Precision Built-in Compass
IMUICM42688P — 6DOF Gyroscope + Accelerometer
ArduPilot CapableYes — Fully capable of running ArduPilot onboard
Design & Build
LED VisibilityImproved LED indicators for easy status monitoring
Environmental ProtectionEnhanced dust and water resistance
Package Contents
Included Items1× Here3+ GNSS GPS Module, 1× Here3 iStand
BrandCubePilot (Hex Technology)
Warranty1 Year

Product Highlights

Here3+ — Engineered for Every Condition

Here3+ DroneCAN High-Speed Data Protocol
Here3+ Dust and Water Resistance

Watch & Learn

Here3+ Setup & Overview Videos

Here3+ with Cube Orange — Setup Tutorial
Here3+ CAN GPS for ArduPilot & PX4 — Overview

FAQ

Frequently Asked Questions

What makes the Here3+ an upgrade over the Here3?
The Here3+ upgrades the processor to STM32H757 (from STM32F302), moves to DroneCAN (from standard CAN), adds a built-in RM3100 magnetometer, uses the newer ICM42688P IMU, runs open-source AP_Periph firmware, and is fully capable of running ArduPilot onboard — making it a significantly more capable and future-proof module.
Does the Here3+ support centimeter-level RTK accuracy?
Yes. The Here3+ supports L1 band RTK, delivering centimeter-level positioning accuracy when used with a compatible RTK base station. This makes it ideal for precision agriculture, survey mapping, and autonomous inspection missions.
What is DroneCAN and why is it better than standard CAN?
DroneCAN (formerly UAVCAN) is an open protocol standard specifically designed for drone avionics communication over CAN bus. It offers higher data integrity, standardized message formats, multi-node bus support, and is actively maintained by the ArduPilot and PX4 communities — providing better long-term compatibility than proprietary CAN implementations.
What flight controllers is the Here3+ compatible with?
The Here3+ is compatible with any CubePilot flight controller (Cube Orange+, Cube Orange, etc.) and any ArduPilot or PX4 flight controller with a DroneCAN-compatible CAN port. It is the recommended GPS module for the CubePilot ecosystem.
What is AP_Periph firmware and can I customize it?
AP_Periph is the ArduPilot peripheral firmware framework that allows CAN-connected peripherals like the Here3+ to be configured, monitored, and updated through Mission Planner or other ArduPilot GCS tools. It is open-source, meaning you can inspect, modify, and contribute to the codebase — making the Here3+ one of the most extensible GPS modules available.
Specifications

The full sheet

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