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HFI Series USB ROS IMU | HFI-B6, HFI-B9 & HFI-A9
- 100% Open-Source Code
- Professional Technical Support
- Comprehensive Development Resources
- For bulk orders, institutional procurement, or corporate purchasing, please contact us for a formal quotation and procurement support.
The HFI Series is a compact USB inertial measurement unit family for robotics, autonomous systems, motion sensing, attitude estimation, and research. HFI-B6 provides 6-axis sensing, HFI-B9 adds a magnetometer for 9-axis measurement, and HFI-A9 provides the highest attitude accuracy in the series together with anti-magnetic-interference processing, adjustable output frequency, factory calibration, and an aluminum-alloy housing.
- Three models: 6-axis HFI-B6, 9-axis HFI-B9, and higher-performance 9-axis HFI-A9
- USB serial communication for straightforward connection to development computers
- ROS driver package and Python examples available for all three models
- Calibrated raw sensor data plus roll, pitch, and yaw angle output
- HFI-B6 and HFI-B9 provide 200 Hz output; HFI-A9 supports adjustable output up to 150 Hz
- HFI-A9 static roll/pitch accuracy below 0.1° RMS and dynamic accuracy below 0.5° RMS
- HFI-A9 includes anti-magnetic-interference processing, desktop configuration software, and high-precision factory calibration
Product Overview
The HFI Series combines MEMS inertial sensors, onboard data fusion, USB serial communication, and software-development resources in a compact module for robotics and embedded motion-measurement applications. All three models provide calibrated raw data and roll, pitch, and yaw angle output.
HFI-B6 integrates a 3-axis gyroscope and 3-axis accelerometer for 6-axis motion sensing. HFI-B9 adds a 3-axis magnetometer for 9-axis sensing and magnetic-field measurements. HFI-A9 is the higher-performance model, with improved roll/pitch accuracy, 9-axis anti-magnetic-interference fusion, scenario-based parameter configuration, adjustable output frequency, and a dedicated desktop software interface.
Key Features
USB Serial Interface
All three models use USB serial communication, allowing direct connection to a development computer for data acquisition and software integration.
ROS and Python Development Resources
A ROS driver package and Python examples are available across the HFI-B6, HFI-B9, and HFI-A9 models. The development materials support data acquisition, visualization, and secondary development workflows.
Calibrated Raw Data and Attitude Output
The HFI Series provides calibrated raw sensor data together with roll, pitch, and yaw angle output, supporting motion measurement, attitude estimation, and robotics research.
Enhanced HFI-A9 Processing and Configuration
HFI-A9 adds 9-axis anti-magnetic-interference fusion, scenario-based parameter configuration, adjustable output frequency, higher-precision factory calibration, and a dedicated desktop configuration interface.
Model Comparison
| Parameter | HFI-B6 | HFI-B9 | HFI-A9 |
|---|---|---|---|
| Sensor Axes | 6-axis | 9-axis | 9-axis |
| 3-Axis Gyroscope | Yes | Yes | Yes |
| 3-Axis Accelerometer | Yes | Yes | Yes |
| 3-Axis Magnetometer | No | Yes | Yes |
| Sensor Data Fusion | Yes | Yes | Yes |
| Scenario-Based Parameter Configuration | No | No | Yes |
| Basic Factory Calibration | Yes | Yes | Yes |
| Desktop Configuration Software | No | No | Yes |
| Python Examples & ROS Driver Package | Yes | Yes | Yes |
| USB Interface | Yes | Yes | Yes |
| Calibrated Raw Data Output | Yes | Yes | Yes |
| Roll / Pitch / Yaw Output | Yes | Yes | Yes |
| Adjustable Output Frequency | No | No | Yes |
| Static Accuracy (Roll/Pitch, RMS) | <0.7° | <0.7° | <0.1° |
| Dynamic Accuracy (Roll/Pitch, RMS) | <2.5° | <2.5° | <0.5° |
| Roll/Pitch Zero-Offset Stability | 0.5° RMS | 0.5° RMS | 0.2° RMS |
| Heading Zero-Offset Stability | 8°/h | 8°/h | 5°/h |
Which Model Should I Choose?
HFI-B6 — Compact 6-Axis Motion Sensing
Choose HFI-B6 when you need a compact, cost-effective 6-axis IMU for acceleration, angular-rate, and attitude measurements without magnetic-field sensing. It provides 200 Hz output, USB serial communication, and the same ROS/Python development resources available across the series.
HFI-B9 — 9-Axis Sensing with Magnetometer
Choose HFI-B9 when your application requires a 3-axis magnetometer in addition to the gyroscope and accelerometer. It retains the 200 Hz output rate and compact 50 × 34 × 14 mm plastic housing while adding magnetic-field sensing for 9-axis measurement.
HFI-A9 — Higher-Precision 9-Axis Attitude Sensing
Choose HFI-A9 when improved attitude accuracy, anti-magnetic-interference processing, scenario-based parameter configuration, an aluminum-alloy housing, adjustable output frequency, and desktop configuration software are important to your application.
Electrical & Physical Specifications
| Parameter | HFI-B6 | HFI-B9 | HFI-A9 |
|---|---|---|---|
| Operating Temperature | -40 to 85°C | -40 to 85°C | -40 to 80°C |
| Supply Voltage | 5 V | 5 V | 5 V typical (4.7–5.3 V) |
| Communication | USB Serial | USB Serial | USB Serial |
| Shock Range | ±8 G | ±8 G | ±8 G |
| Dimensions (L × W × H) | 50 × 34 × 14 mm | 50 × 34 × 14 mm | 48 × 34 × 16 mm |
| Weight | 12 g | 12 g | 28 g |
| Housing Material | Plastic | Plastic | Aluminum alloy |
| Compliance / Protection | — | — | RoHS, IP50 |
| Output Frequency | 200 Hz | 200 Hz | Up to 150 Hz, adjustable |
| Serial Baud Rate | 921600 bps | 921600 bps | 2400–921600 bps (default 921600) |
Gyroscope Specifications
| Parameter | HFI-B6 | HFI-B9 | HFI-A9 |
|---|---|---|---|
| Measurement Range | ±2000°/s | ±2000°/s | ±2000°/s |
| Resolution | 0.061°/s | 0.061°/s | 0.06°/s |
| Bandwidth | 5–256 Hz | 5–256 Hz | 256 Hz |
| Bias Stability | 12°/h | 12°/h | 10°/h |
| Sampling Rate | 1 kHz | 1 kHz | 4 kHz |
Accelerometer Specifications
| Parameter | HFI-B6 | HFI-B9 | HFI-A9 |
|---|---|---|---|
| Measurement Range | ±16 g | ±16 g | ±8 g |
| Resolution | 0.5 mg | 0.5 mg | 0.2 mg |
| Bandwidth | 5–256 Hz | 5–256 Hz | 256 Hz |
| Sampling Rate | 1 kHz | 1 kHz | 1 kHz |
Magnetometer Specifications
| Parameter | HFI-B6 | HFI-B9 | HFI-A9 |
|---|---|---|---|
| Measurement Range | — | ±2 Gauss | ±1.3 Gauss |
| Resolution | — | Approx. 0.003 Gauss | Approx. 0.001 Gauss |
| Sampling Rate | — | — | 160 Hz |
Note: “<x.x° RMS” indicates an overall RMS error below x.x°.
Software & Development Support
ROS Driver and Python Examples
The HFI Series includes ROS driver resources and Python examples for data acquisition and robot integration. Development resources are available for HFI-B6, HFI-B9, and HFI-A9.
HFI-A9 Desktop Configuration Software
HFI-A9 additionally provides a desktop software interface for data visualization, data recording, 9-axis fusion settings, scenario-based parameter configuration, and communication settings.
Applications
Mobile Robots, UGVs, AGVs and AMRs
Use the HFI Series for robot attitude sensing, motion measurement, and inertial-data acquisition in wheeled mobile robots, UGVs, AGVs, AMRs, and experimental autonomous platforms.
UAV and Autonomous-System Research
The compact modules can be used in UAV and autonomous-system research where acceleration, angular rate, attitude, and—on 9-axis models—magnetic-field information are required.
ROS Development and Motion Tracking
USB serial communication, ROS driver resources, Python examples, and calibrated sensor output make the series suitable for robotics development, education, prototyping, and motion-tracking experiments.
Need Help Selecting?
If you are choosing between HFI-B6, HFI-B9, and HFI-A9, contact LucSys Robotics with your robot type, required sensor axes, attitude-accuracy requirement, magnetic environment, output-rate requirement, and software platform. For other inertial-sensing options, you can also compare the H30 Series ROS IMU and the N300 Pro IMU.
Key Features
Explore the HFI-B6, HFI-B9, and HFI-A9 model differences, software-development features, attitude-sensing performance, and integration options below.
1. HFI Series Feature Overview
2. Model Performance and Data Comparison
3. HFI-B6, HFI-B9 and HFI-A9 Selection Guide
4. Robotics Application Scenarios
5. Stable Motion and Attitude Output
6. Digital Filtering
7. HFI-A9 Anti-Magnetic-Interference Processing
8. HFI-A9 Factory Calibration
9. ROS, Python and C++ Secondary Development
10. HFI-A9 Host Software
11. Dimensions and Installation Reference
What is the difference between HFI-B6, HFI-B9, and HFI-A9?
HFI-B6 is a 6-axis IMU with a 3-axis gyroscope and 3-axis accelerometer. HFI-B9 adds a 3-axis magnetometer for 9-axis sensing. HFI-A9 is the higher-performance 9-axis model, adding improved attitude accuracy, anti-magnetic-interference processing, adjustable output frequency, scenario-based parameter configuration, and desktop configuration software.
Which model should I choose if I only need a gyroscope and accelerometer?
Choose HFI-B6. It provides 6-axis sensing using a 3-axis gyroscope and 3-axis accelerometer without a magnetometer.
Which models include a magnetometer?
HFI-B9 and HFI-A9 both include a 3-axis magnetometer and provide 9-axis sensing. HFI-B6 does not include a magnetometer.
Which HFI model provides the highest attitude accuracy?
HFI-A9 has the highest specified attitude performance in the series, with static roll/pitch accuracy below 0.1° RMS and dynamic roll/pitch accuracy below 0.5° RMS.
Does the HFI Series support ROS?
Yes. ROS driver resources are available for HFI-B6, HFI-B9, and HFI-A9. The product also includes Python examples for secondary development.
Can the HFI IMU be used with Python or C++?
Yes. The available development resources include Python examples, and the product resources also support C++-based secondary development workflows.
How does the HFI Series connect to a computer?
All three models use USB serial communication for data output and software integration.
What are the output frequencies of HFI-B6, HFI-B9, and HFI-A9?
HFI-B6 and HFI-B9 provide 200 Hz output. HFI-A9 supports an adjustable output frequency of up to 150 Hz.
Is desktop configuration software available?
Desktop configuration software is available for HFI-A9. It supports data visualization, recording, 9-axis fusion settings, scenario-based parameter configuration, and communication settings.
Does HFI-A9 include anti-magnetic-interference processing?
Yes. HFI-A9 includes 9-axis anti-magnetic-interference fusion intended to improve attitude stability in environments affected by changing magnetic fields.
What is the operating temperature range?
HFI-B6 and HFI-B9 are specified for -40°C to 85°C. HFI-A9 is specified for -40°C to 80°C.
What are the size and weight differences between the models?
HFI-B6 and HFI-B9 measure 50 × 34 × 14 mm and weigh 12 g. HFI-A9 measures 48 × 34 × 16 mm, weighs 28 g, and uses an aluminum-alloy housing.
1. Free Shipping Policy
We offer free standard shipping on orders.
2. Customs & Import Fees
All international shipments are subject to local customs regulations. Import duties, taxes, or other fees may be charged by your country's customs authority upon arrival.
Our shipping terms are based on Ex-Works (EXW) or FCA (Origin), which means any import duties, taxes, or local customs fees are the sole responsibility of the customer. While our carriers provide basic assistance with the clearance process, we are not responsible for delays or costs imposed by your local authorities.
Important: If a package is returned to us due to unpaid customs duties or a refusal to clear customs, any original shipping fees, return shipping costs, and related handling charges will be deducted from your refund.
3. Order Processing Time
Orders are typically processed within 48 hours after placement and shipped the next business day.
Orders placed on weekends or public holidays will be shipped on the next working day.
Once shipped, you will receive a confirmation email with tracking information.