WitMotion HWT9073 0.001° AHRS Accelerometer & Inclinometer, 9-Axis Gyro/Mag + Angle, RS485/CAN, IP67 Industrial Sensor

Overview

WitMotion HWT9073 is an industrial-grade attitude measurement sensor that combines a 3-axis accelerometer, 3-axis gyroscope, 3-axis magnetometer and angle solver to deliver ultra-high precision of 0.001° (X/Y). It uses a high-precision non-magnetic turntable calibration and WitMotion’s fusion algorithms (Kalman filtering) to maintain stable, low-noise attitude data even under environmental interference. A rugged IP67 aluminum housing with anti-rust protection and screw-mount design makes HWT9073 ready for harsh field deployments.

Key Features

• Ultra-high precision angle: X/Y 0.001°; Z 0.1° (still accurate under strong magnetic interference).

• 9-axis AHRS outputs: acceleration, angular velocity, Euler angles, magnetic field, quaternion, and time.

• Interfaces & protocols: RS485 (Modbus RTU); CAN series (private protocol).

• Configurable update rate: 0.2–200 Hz (CAN).

• Temperature compensation and mag-compensated compass for low drift and high stability.

• Dashboard & tools: real-time graphs, 3D demo visualization, calibration wizards, data logging and TXT export.

• Quality assurance: high-temp aging, triaxial turntable, long-term reliability, salt-spray, simulated transportation, and aging tests.

Specifications

• Supply voltage: 5–36 V

• Current: < 30 mA

• Measurement ranges: Acc ±2 g; Gyro ±400 °/s; Angle: X,Z ±180°, Y ±90°

• Magnetic field resolution: 1 mg (milligauss)

• Baud rate: UART 4800–921600; CAN 3 K–1 M

• Return rate (CAN): 0.2–200 Hz

• Size: 1.85 × 1.45 × 0.78 in (approx.)

• Weight: ≈ 96.5 g

• Installation: Vertical or horizontal mounting, optional

• Ingress protection: IP67

Data Protocol (Angle Packet)

• Header: 0x50; Type: 0x03 (angle); Length: 0x08

• Fields: X-angle low/high, Y-angle low/high, checksum high/low, etc.

• Formulas:

  • Roll (X): ((HRollH<<24)|(HRollL<<16)|(LRollH<<8)|LRollL)/1000 (°)

  • Pitch (Y): ((HPitchH<<24)|(HPitchL<<16)|(LPitchH<<8)|LPitchL)/1000 (°)
    (Acceleration, angular velocity, and angle protocols are similar.)

Wiring (Pins Connection)

• RS485: VCC (5–36 V) / A / B / GND

• CAN: VCC (5–36 V) / CANH / CANL / GND

Software & SDK

• Windows PC software (Minimu.exe) for real-time dashboard, charts, 3D demo, calibration, bandwidth/range/output-rate settings, and TXT data export.

• Free development kit: manual & datasheet, serial driver, STM32 serial-port routines, sample programs.

Reliability & Calibration

• Magnetic field calibration with visualized ellipsoid fits to verify results.

• Temperature compensation with high-reliability chips (automotive AEC-Q100 quality standard stated).

• Crystal gyroscope + magnetometer fusion to mitigate noise/hysteresis and maintain heading through interference.

Typical Applications

UAV/UAS attitude sensing, robotics, AGVs, vehicle dynamics, platform leveling, navigation, and motion capture where WitMotion HWT9073 requires 0.001° AHRS accuracy and IP67 durability.

Details

9-axis high-precision angle sensor with 0.001° accuracy, featuring 3-axis Acc, Gyro, Angle, and Mag. Industrial-grade attitude measurement using high-precision and mag-compensated compass chips for low noise, drift, and environmental interference resistance.

9-axis sensor with temperature compensation, AEC-Q100 acceleration chips, military-grade magnetometer, gyroscope, and fusion algorithm ensure stable, accurate heading in magnetic interference.

IP67 waterproof aluminum casing ensures durability in harsh environments. Kalman Filter Fusion Algorithm enhances accuracy with 0.001° precision in X/Y axes and 0.1° in Z axis, maintaining reliability under magnetic interference.

WitMotion HWT9073 9-axis accelerometer software offers real-time attitude measurement, 3D demo visualization, and data display. Features include angle readings, calibration, alarm settings, and four simulation models for intuitive motion state monitoring.

WitMotion HWT9073 9-axis sensor offers real-time data visualization, intuitive dashboard with acceleration, angular velocity, magnetic field, and GPS data. Features include calibration, configuration options, and easy-to-read graphs for immediate insights.

Data analysis in MATLAB, magnetic field calibration with visual feedback, and data storage/export in TXT format for tracking and manipulation.

WitMotion HWT9073 9-axis sensor operates on 5-36V, draws <30mA, offers RS485/CAN, 3D output, high accuracy (0.001° X/Y, 0.1° Z), compact size, supports vertical/horizontal mounting.

Connection diagram for RS485 and CAN wiring with color codes: red (5-36V), yellow (A/CANH), green (B/CANL), black (GND). Shows sensor connections with VCC, A/B, CANH, CANL, and GND.

Data protocol for angle output of WitMotion HWT9073 9-axis sensor. Includes byte definitions for roll and pitch angles, checksum, and formulas to calculate angles from high and low bytes. Similar protocols apply for acceleration and angular velocity.

SDK Development Kits include free tutorials, manuals, datasheets, sample codes, and Windows software. Quality assurance features high-temp aging, triaxial turntable testing, long-term reliability, salt spray, simulated transportation, and aging tests.