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Power amplifier modules
HI04 High-performance IMU/VRU/AHRS
- High-performance MEMS IMU module (HI04 series: IMU/VRU/AHRS)
- Ordering information:
- HI04M0-MI0-000: IMU/VRU Module, 6DoF, 3°/h, UART
- HI04M3-MI0-000: IMU/AHRS Module, 6DoF, 3°/h + Magnetic, UART
- Factory-calibrated over -40°C to +85°C with full-temperature compensation (scale factor, cross-axis sensitivity, and bias)
- Gyroscope bias instability down to 1.6°/h
- Accelerometer bias instability down to 18 μg
- Dimensions (WxLxH): 12.1 x 12.1 x 2.5 mm
- Weight: < 2 g
- Maximum output rate: up to 1000 Hz (low latency)
- Start-up time: < 1 s
- Output data (mode dependent): acceleration, angular velocity, attitude (Euler angles / quaternion), and heading (AHRS models)
- Output interface / protocol:
- UART
- Binary / CANopen / Modbus (configurable)
- Note: If CAN is required, an external CAN transceiver circuit is needed.
- Attitude accuracy (typical):
- Pitch/Roll (static): 0.15° (nom), 0.2° (max)
- Pitch/Roll (dynamic): 0.15° (nom), 0.2° (max)
- Yaw static drift (6DoF, stationary for 2 h): 0.15° (nom), 0.2° (max)
- Yaw dynamic drift (6DoF, HI04M0): 9° (nom)
- Yaw dynamic drift (AHRS, HI04M3): 2° (min), 3° (nom) (after geomagnetic calibration)
- Yaw rotation error (6DoF, HI04M0, rotation at 100°/s): < 0.8° (nom), 3° (max)
HI04
The HI04 series is an IMU/VRU/AHRS sensor built around a high-performance MEMS IMU. It integrates a proprietary adaptive EKF fusion algorithm, IMU noise dynamic analysis, and platform motion-state analysis to maintain attitude accuracy under high dynamics and reduce heading drift. Each unit is carefully compensated and factory calibrated, including temperature, bias, scale factor, and cross-axis terms.
Data fusion algorithm
HI04 uses an adaptive EKF fusion algorithm with strong vibration suppression, excellent dynamic tracking, and effective suppression of linear acceleration effects. Output can reach up to 1000 Hz with low latency, and data can be output immediately without external configuration commands.
Interfaces, synchronization, and I/O
HI04 transmits data via UART and supports multiple protocols such as binary, CANopen, and Modbus. If a CAN interface is required, the user must integrate an external CAN transceiver circuit. HI04 can be synchronized to the host system via an external trigger, and it can also time-align external systems (e.g., radar or cameras) using its sync output functions.
PC GUI and reference examples
The PC GUI enables rapid evaluation, including module configuration, data display, firmware upgrade, and data logging. We also provide a rich set of user configuration commands and reference examples for ROS, C, Qt, and more.