Small Size SMD Attitude Sensor

HI04 Series

Bias Instability up to 1.6°/h
Adopting high-precision MEMS-IMU
-40-85℃ Whole Temp. Compensation
Up to 1000Hz Data Output
Wide-range Magnetometer,Factory-calibrated
UART/CAN

Data Sheet
中文

Fully Symmetrical Array MEMS design,Wide-range Magnetometer,higher precision and higher reliability

HI04 series IMU sensors is attitude sensor with small size and high performance. It can provide users with precise motion information including Euler angles and quaternions, with a temperature range from -40°C to +85°C, suitable for construction machinery, low-speed unmanned driving equipment, humanoid robots, quadrupedal robot applications.

Product Selection
HI04a-b-c^①
HIPNUC	HI14 Series	a Inertial Sensor Parts	b Data interface	c Custom Information
HI	04	M0 6DoF 3°/h 30ug M3 6DoF 3°/h 30ug+Magnetic R2 6DoF 1.6°/h R3 6DoF 1.6°/h +Magnetic	MI0 UART MI1 UART+CAN2.0	000 Default Others OEM

Note1：Model example：HI04R2-MI1-000
Note2：All models come with default Whole temperature compensation, and firmware version 1.5.4 and above are supported.

Product Parameters
Product Model	HI04M0	HI04M3	HI04R2	HI04R3
Gyroscope Range	±2000°/s	±2000°/s	±2000°/s	±2000°/s
Bias Instability	3°/h	3°/h	1.6°/h	1.6°/h
Accelerometer Range	±12g	±12g	±12g	±12g
Bias Instability	0.03mg	0.03mg	0.018mg	0.018mg
Magnetometer Range	x	±20Gauss	x	±20Gauss
Pitch/Roll (Static)^①	0.15°-0.2°	0.15°-0.2°	0.15°-0.2°	0.15°-0.2°
Pitch/Roll (Dynamic)^①	0.15°-0.2°	0.15°-0.2°	0.15°-0.2°	0.15°-0.2°
Heading Angle Static Drift (6DOF)^②	0.15°-0.2°	0.15°-0.2°	0.15°-0.2°	0.15°-0.2°
Heading Angle Dynamic Drift (6DOF)^③	9°	9°	5°	5°
Heading Angle Accuracy(AHRS)^④	-	2°	-	2°

NOTE1：It may be affected after welding, subject to actual conditions.
NOTE2：Module stationary for 2 hours
NOTE3：Module moving on an indoor cleaning robot for 1 hour measured. 1σ
NOTE4：The magnetic field has been calibrated and is free from interference.

Mechanical
Structural Size	HI04MX	12.1x12.1x2.5mm
Structural Size	HI04RX	15x15x2.5mm
Weight	HI04MX	<1g
Weight	HI04RX	<1.5g
Shell Material		SMD
Operating Temperature		-40 °C ... +85 °C
Certifications		RoHS、CE

Electrical
Voltage	3.3-5V DC
Power Consumption	<245mW
Interfaces	UART(TTL) CAN
Output Frame Rate	UART(TTL) 1000Hz CAN 200Hz

Hardware

Factory calibrated, Good consistent performance
-40-85℃ Whole Temp. Compensation
Operates in the temperature range of -40°C to +85°C
Adopting high-precision MEMS-IMU，Low long-term drift
Wide-range Magnetometer

Software

Up to 1000Hz data output
High precision, high performance
Based on Extended Kalman Filter fusion algorithm, can provide calibrated raw data and high-precision fusion data
Supports commonly used binary and CANopen protocols.
Anti-magnetic interference, simple calibration.

HI04 Series

Fully Symmetrical Array MEMS design,Wide-range Magnetometer,higher precision and higher reliability

Product Selection

Product Parameters

Mechanical

Electrical

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