HI32 Series Datasheet

RTK-GNSS/INS Module

Rev 1.2 · 2026-09-30

1 Features

1.1 Hardware

• High-performance IMU array
• Factory temperature compensation over −40 to 85 °C, with scale factor, cross-axis and bias calibration
• Typical gyroscope bias instability: 1.6 °/h
• Typical accelerometer bias instability: 30 μg
• Multiple interfaces, including RS-232 / RS-422 / CAN
• Compact enclosure for easy integration
• Multi-constellation, multi-frequency RTK-GNSS system; R7 models support dual-antenna heading

1.2 Software and Navigation

• Adaptive extended Kalman filter fusion, with output rates up to 100 Hz and low latency
• Suppression of linear acceleration effects on attitude estimation
• GNSS dual-antenna heading accuracy: 0.1° RMS with a 1 m baseline
• GNSS timing accuracy: 20 ns RMS
• GNSS standalone horizontal positioning accuracy: 1.5 m RMS
• GNSS RTK horizontal positioning accuracy: 0.8 cm + 1 ppm RMS
• GNSS velocity accuracy: 0.03 m/s RMS
• GNSS cold start: <30 s; hot start: <5 s
• Multifunction GUI host software, with ROS, C and other development examples

See GNSS Specifications and Fusion Accuracy for performance test conditions.

2 Applications

• Low-speed outdoor autonomous vehicles
• Unmanned surface vessels
• Satellite communications on the move
• Agricultural machinery
• Inspection robots

3 Description

3.1 Product Appearance

Figure 1: HI32

3.2 System Block Diagram

Figure 2: System Block Diagram

Note: Dashed lines indicate functions that are not supported by all models. See Model Selection for details.

3.3 General Description

The HI32 integrated navigation system combines a high-performance inertial measurement unit (IMU) with an RTK-GNSS receiver and is available in single-antenna and dual-antenna models. Fusion of IMU and GNSS data provides position, velocity, attitude and timing information. See the fusion accuracy table for performance and aiding conditions during GNSS outages.

Each sensor undergoes temperature, bias, scale factor and cross-axis compensation before shipment. The GUI host software supports module configuration, data display, firmware upgrades and data logging.

See Sections 4 and 5 for model selection and ordering information.

4 Model Selection

HI32a-b-cde

Table 1: Model Selection

Field	Value	Description
Company Identifier	HI	HiPNUC
Product Series	32	HI32 Series
a: Sensor	R6	Single-antenna RTK-GNSS/INS
a: Sensor	R7	Dual-antenna RTK-GNSS/INS
b: Data Interface	MI0 / MI1 / MI2	Different interface combinations
c: Reserved	0	Default
d: Connector	0	1T12 circular connector
d: Connector	1	J30, customization required
e: Customization	0 / Other	Default / OEM

• Model example: HI32R7-MI0-000. See Dimensions and Pin Assignments for MI0 and MI1 pin assignments.
• The J30 interface requires customization.
• MI2 includes data synchronization pins and requires customization. Confirm the pin assignments and delivered configuration when ordering.

5 Ordering

5.1 Ordering Information

Table 2: Ordering Information

Model	Product Name	Description
HI32R6-MI0-000	Single RTK-GNSS/INS Module	Single-antenna RTK integrated navigation module, 1T12 circular connector, MI0
HI32R7-MI0-000	Dual RTK-GNSS/INS Module	Dual-antenna RTK integrated navigation module, 1T12 circular connector, MI0
HI32R7-MI1-000	Dual RTK-GNSS/INS Module	Dual-antenna RTK integrated navigation module, 1T12 circular connector, MI1
HI32R7-MI2-000	Dual RTK-GNSS/INS Module	Dual-antenna RTK integrated navigation module, 1T12 circular connector, MI2, customization required

5.2 Contact Us

• Sales Email: sales@hipnuc.com
• Company Website: www.hipnuc.com

6 Document Information

6.1 Applicability

6.1.1 Software and Functions

Available functions and configuration procedures are governed by the applicable command and programming manual and the delivered configuration. For applications requiring external aiding or customized interfaces, confirm the supported scope when ordering.

6.1.2 Hardware Revisions

This datasheet applies to hardware revision C5 and later.

Table 3: Hardware Revision History

Hardware Revision	Changes
C5	Initial revision
C6	Added antenna power supply protection

6.2 Document Revision History

Table 4: Document Revisions

Revision	Date	Author	Changes
1.0	2024-09-06	HiPNUC	Initial revision
1.1	2025-11-15	HiPNUC	Improved integrated navigation fusion performance
1.2	2026-09-30	HiPNUC	Rebuilt a maintainable source document, aligned specification summaries, referred software configuration to the programming manual, and updated delivery information and resource access

7 Specifications

Unless otherwise noted, test conditions are 25 °C ambient temperature and 24 V supply voltage.

Sensor ranges, sampling and filtering strategies depend on the delivered configuration. The performance specifications below do not imply that all delivered configurations use fixed sensor settings.

7.1 Absolute Maximum Ratings

Table 5: Absolute Maximum Ratings

Parameter	Limit	Description
Mechanical Shock	2000 g	Duration <1 ms
Storage Temperature	−40 to 85 °C
ESD HBM	15 kV	JEDEC/ESDA JS-001
Input Voltage Vs	40 V
RS-232 TX to GND	±13.2 V
RS-232 RX to GND	±24 V
CAN H or CAN L to GND	±40 V
CAN H to CAN L	±27 V
RX+ or RX− to GND	−0.3 to 6 V
TX+ or TX− to GND	−12 to 12 V
SYNC/PPS to GND	−0.3 to 3.6 V

7.2 Normal Operation

Table 6: Normal Operating Specifications

Parameter	Minimum	Nominal	Maximum	Unit
Input Voltage	9		36	V
Power Consumption		1.6	2	W
Operating Temperature	−40		85	°C

Table 7: Communication Interface Functions

Interface	Function
COM1 / RS-422	Sensor data input, output and configuration
COM2	Differential correction data input from an external DTU; configurable sensor data output
CAN	Sensor data communication

Physical interfaces depend on the model. See the command and programming manual for protocols, serial port settings and output configuration.

7.3 Interface Specifications

Table 8: PPS/SYNC Levels

Interface	Parameter	Condition	Minimum	Nominal	Maximum	Unit
PPS/SYNC	Logic Voltage	High	2.0	3.3	3.6	V
PPS/SYNC	Logic Voltage	Low			0.6	V

The CAN interface has no built-in 120 Ω termination resistor. See Dimensions and Pin Assignments for RS-232, RS-422 and CAN pins. See the applicable command and programming manual for baud rates, serial data formats, output rates and protocol configuration.

7.4 Gyroscope

Table 9: Gyroscope Specifications

Parameter	Condition	Nominal	Unit
Bias Instability	Allan Variance	1.6	°/h
Bias Repeatability		8	°/h
Angle Random Walk	Allan Variance	0.25	°/√h

7.5 Accelerometer

Table 10: Accelerometer Specifications

Parameter	Condition	Nominal	Unit
Bias Instability	Allan Variance	30	μg
Bias Repeatability		0.15	mg
Random Walk	Allan Variance	0.04	m/s√h

7.6 Magnetometer

An integrated magnetometer provides magnetic field measurements.

7.7 GNSS Specifications

Parameter	Specification	Note
Channels	1408 channels
Constellations	BDS / GPS / GLONASS / Galileo / QZSS
BDS Frequencies	B1I / B2I / B3I
GPS Frequencies	L1 C/A / L2P(Y) / L2C / L5
Galileo Frequencies	E1 / E5a / E5b
GLONASS Frequencies	L1 / L2
QZSS Frequencies	L1 / L2 / L5
Cold Start	<30 s
Hot Start	<5 s	1
Standalone Horizontal Positioning Accuracy (RMS)	1.5 m	2, 3
Standalone Vertical Positioning Accuracy (RMS)	2.5 m	2, 3
DGPS Horizontal Positioning Accuracy (RMS)	0.4 m + 1 ppm	2, 3
DGPS Vertical Positioning Accuracy (RMS)	0.8 m + 1 ppm	2, 3
RTK Horizontal Positioning Accuracy (RMS)	0.8 cm + 1 ppm	2, 3
RTK Vertical Positioning Accuracy (RMS)	1.5 cm + 1 ppm	2, 3
Dual-Antenna Heading Accuracy (RMS)	0.1°, 1 m baseline
Timing Accuracy (RMS)	20 ns
Velocity Accuracy (RMS)	0.03 m/s	4
Data Update Rate	20 Hz
Maximum Velocity	500 m/s
Maximum Altitude	50000 m

1. Hot start requires a power-off interval of no more than 10 min. Start time depends on the power-off interval; a sufficiently long interval results in a cold start.
2. Test results may vary with atmospheric conditions, baseline length, GNSS antenna type, multipath, the number of visible satellites and satellite geometry.
3. Measurements are made with a 1 km baseline and a receiver with a well-performing antenna; possible antenna phase center offset errors are not taken into account.
4. Velocity accuracy is specified under open-sky, unobstructed conditions, 99% @ static.

7.8 Fusion Specifications

7.8.1 Fusion Algorithm and Data Content

Table 11: Fusion Specifications

Parameter	Description
Data Content	Velocity, position, attitude, time and other information
Fusion Algorithm	EKF
External Aiding	Differential correction data supplied through an external DTU or similar device; support for other aiding configurations must be confirmed before delivery

See the command and programming manual for data messages, protocols and differential correction input methods. Physical interfaces and external aiding functions depend on the model and delivered configuration.

7.8.2 Fusion Accuracy

The table below reports results from an odometer-aided test configuration. These results do not imply that all delivered configurations include this aiding function. Applications requiring this GNSS outage performance must confirm odometer connectivity, fusion support and applicable test conditions before delivery.

GNSS Outage Duration	Positioning and Aiding Conditions	Position Accuracy RMS	Velocity Accuracy RMS	Pitch/Roll Accuracy RMS	Heading Accuracy RMS
3 s	RTK + Odometer	3 cm	0.03 m/s	0.15°	0.1°
10 s	RTK + Odometer	30 cm	0.1 m/s	0.2°	0.15°
60 s	RTK + Odometer	3 m	0.15 m/s	0.2°	0.25°

Test conditions: RTK mode before the GNSS outage, with odometer aiding during the outage.

7.9 Mechanical and Environmental Specifications

Table 12: Mechanical and Environmental Specifications

Parameter	Specification
Dimensions	75 × 70.5 × 25.2 mm
Weight	180 g
Enclosure Material	CNC-machined aluminum alloy
Vibration Resistance	1.0 mm (10 to 58 Hz); ≤20 g (58 to 600 Hz)
Environmental Compliance	RoHS Directive 2011/65/EU
Drop Test	3 free falls from a 75 cm-high laboratory bench
Temperature Shock	From −40 °C to 85 °C within 1 h, 5 times

7.10 Dimensions and Pin Assignments

Dimensions in the drawings are in mm.

7.10.1 Product Dimensions

Figure 3: HI32 Mechanical Dimensions

7.10.2 1T12 Circular Connector to DB9 + OPEN (MI0)

Figure 4: Sensor-Side Pin Positions and Wiring Harness

Table 13: MI0 Pin Assignments (DB9 + OPEN)

Pin	Name	Type	Color	Function	Connection
1	Vs	POWER	Red	Power input 9 to 36 V	OPEN
2	PGND	POWER	Black	Power ground	OPEN
3	SGND	POWER		Signal ground	COM1 DB9 female Pin 5
4	RS232-TXD1	O		COM1 data transmit	COM1 DB9 female Pin 2
5	RS232-RXD1	I		COM1 data receive	COM1 DB9 female Pin 3
6	CAN1-H	AIO	Brown	CAN1 High	OPEN
7	CAN1-L	AIO	Purple	CAN1 Low	OPEN
8	SGND	POWER	Yellow	Signal ground	OPEN
9	PPS	O	Green	Pulse-per-second signal	OPEN
10	SGND	POWER		Signal ground	COM2 DB9 male Pin 5
11	RS232-TXD2	O		COM2 data transmit	COM2 DB9 male Pin 3
12	RS232-RXD2	I		COM2 data receive	COM2 DB9 male Pin 2

• PGND and SGND are internally connected.
• This is the default harness listed in the original datasheet. The delivered harness depends on the order configuration.

7.10.3 1T12 Circular Connector to OPEN (MI0)

Table 14: MI0 Pin Assignments (OPEN)

Pin	Name	Type	Color	Function
1	Vs	POWER	Red	Power input 9 to 36 V
2	PGND	POWER	Black	Power ground
3	SGND	POWER	Green	Signal ground
4	RS232-TXD1	O	Yellow	COM1 data transmit
5	RS232-RXD1	I	White	COM1 data receive
6	CAN1-H	AIO	Brown	CAN1 High
7	CAN1-L	AIO	Blue	CAN1 Low
8	SGND	POWER	Gray	Signal ground
9	PPS	O	Orange	Pulse-per-second signal
10	SGND	POWER	Purple	Signal ground
11	RS232-TXD2	O	Pink	COM2 data transmit
12	RS232-RXD2	I	Light Green	COM2 data receive

PGND and SGND are internally connected.

7.10.4 1T12 Circular Connector to OPEN (MI1)

Table 15: MI1 Pin Assignments (OPEN)

Pin	Name	Type	Color	Function
1	Vs	POWER	Red	Power input 9 to 36 V
2	PGND	POWER	Black	Power ground
3	SGND	POWER	Green	Signal ground
4	TX+	O	Yellow	RS-422 data transmit +
5	TX-	O	White	RS-422 data transmit −
6	RX+	I	Brown	RS-422 data receive +
7	RX-	I	Blue	RS-422 data receive −
8	SGND	POWER	Gray	Signal ground
9	PPS	O	Orange	Pulse-per-second signal
10	SGND	POWER	Purple	Signal ground
11	RS232-TXD2	O	Pink	COM2 data transmit
12	RS232-RXD2	I	Light Green	COM2 data receive

PGND and SGND are internally connected. Verify the pins and wire colors for each interface and harness separately; do not wire one harness using the color assignments of another.

8 Coordinate Systems and Installation

8.1 Coordinate Systems

The positive Y-axis points forward along the vehicle, the X-axis points to the right, and the Z-axis points upward. The navigation frame is East-North-Up, and the body frame is Right-Front-Up. The vehicle, GNSS antennas and HI32 must be rigidly connected.

Figure 5: HI32 Coordinate System and Antenna Installation

8.2 Sensor and Antenna Installation

For dual-antenna models, A is the primary antenna (positioning antenna), and B is the secondary antenna (heading antenna). Refer to the interface labels on the sensor enclosure. The vector from A to B defines the heading baseline. With the default installation shown, the angle between this baseline and the vehicle's forward direction (positive IMU Y-axis) is 0°, with clockwise rotation defined as positive. The recommended A-to-B antenna spacing is 0.8 to 2 m.

Power-cycle or restart the module after installing the antennas. See the command and programming manual for configuration, saving and verification of antenna lever arms and non-default installations.

8.3 Wiring

8.3.1 1T12 Circular Connector to DB9 + OPEN

Figure 7: 1T12 Circular Connector to DB9 + OPEN Wiring Diagram

8.3.2 1T12 Circular Connector to OPEN

Figure 8: 1T12 Circular Connector to OPEN Wiring Diagram

Verify the illustrated interfaces against the model and harness. SYNC requires customization, and odometer aiding support must be confirmed before delivery. The illustrations do not imply that all models provide these functions.

8.3.3 DTU and Differential Correction Data

RTK positioning requires differential correction data. Confirm the DTU model, matching harness and power supply against the order configuration. See the command and programming manual for differential correction input and verification procedures.

Figure 9: Example 4G DTU; the model and delivered configuration depend on the order

9 Initial Configuration

See the applicable INS command and programming manual for serial port parameters, default outputs, operating modes and configuration procedures.

10 Communication Protocols

10.1 Serial Protocols

See the command and programming manual for message types, field definitions and checksum methods. Verify the physical interfaces against the model.

10.2 CAN

See the command and programming manual for CAN protocols, PGNs and configuration procedures.

11 Packaging

The HI32 module is placed in a custom EPE foam insert and then packed in a box. The figure below shows a packing example from the original datasheet.

Figure 10: HI32 Packaging

The packing list for the HI32 module, data cables, GNSS antennas, antenna feed cables, magnetic antenna mounts and DTU is governed by the order and delivered configuration.