diff --git a/custom_components/mammotion/coordinator.py b/custom_components/mammotion/coordinator.py
index 6227eca..f24c2ce 100644
--- a/custom_components/mammotion/coordinator.py
+++ b/custom_components/mammotion/coordinator.py
@@ -11,6 +11,7 @@
 from homeassistant.core import HomeAssistant
 from homeassistant.exceptions import ConfigEntryNotReady
 from homeassistant.helpers.update_coordinator import DataUpdateCoordinator, UpdateFailed
+from pymammotion.data.model.device import MowingDevice
 from pymammotion.mammotion.devices import MammotionBaseBLEDevice
 from pymammotion.proto.luba_msg import LubaMsg
 
@@ -66,7 +67,7 @@ async def async_sync_maps(self) -> None:
         """Get map data from the device."""
         await self.device.start_map_sync()
 
-    async def _async_update_data(self) -> LubaMsg:
+    async def _async_update_data(self) -> MowingDevice:
         """Get data from the device."""
         if not (
             ble_device := bluetooth.async_ble_device_from_address(
diff --git a/custom_components/mammotion/sensor.py b/custom_components/mammotion/sensor.py
index cec43ba..906103e 100644
--- a/custom_components/mammotion/sensor.py
+++ b/custom_components/mammotion/sensor.py
@@ -9,10 +9,13 @@
     SensorEntityDescription,
     SensorStateClass,
 )
-from homeassistant.const import PERCENTAGE
+from homeassistant.const import PERCENTAGE, UnitOfLength, AREA_SQUARE_METERS, SIGNAL_STRENGTH_DECIBELS_MILLIWATT, \
+    UnitOfSpeed, UnitOfTime
 from homeassistant.core import HomeAssistant
 from homeassistant.helpers.entity_platform import AddEntitiesCallback
 from homeassistant.helpers.typing import StateType
+from homeassistant.util.unit_conversion import DistanceConverter, SpeedConverter
+from homeassistant.util.unit_system import US_CUSTOMARY_SYSTEM
 from pymammotion.data.model.enums import RTKStatus
 from pymammotion.proto.luba_msg import ReportInfoData
 from pymammotion.utility.constant.device_constant import device_mode
@@ -22,6 +25,9 @@
 from .entity import MammotionBaseEntity
 
 
+LENGTH_UNITS = DistanceConverter.VALID_UNITS
+SPEED_UNITS = SpeedConverter.VALID_UNITS
+
 @dataclass(frozen=True, kw_only=True)
 class MammotionSensorEntityDescription(SensorEntityDescription):
     """Describes Mammotion sensor entity."""
@@ -41,14 +47,14 @@ class MammotionSensorEntityDescription(SensorEntityDescription):
         key="ble_rssi",
         state_class=SensorStateClass.MEASUREMENT,
         device_class=SensorDeviceClass.SIGNAL_STRENGTH,
-        native_unit_of_measurement="dBm",
+        native_unit_of_measurement=SIGNAL_STRENGTH_DECIBELS_MILLIWATT,
         value_fn=lambda mower_data: mower_data.connect.ble_rssi,
     ),
     MammotionSensorEntityDescription(
         key="wifi_rssi",
         state_class=SensorStateClass.MEASUREMENT,
         device_class=SensorDeviceClass.SIGNAL_STRENGTH,
-        native_unit_of_measurement="dBm",
+        native_unit_of_measurement=SIGNAL_STRENGTH_DECIBELS_MILLIWATT,
         value_fn=lambda mower_data: mower_data.connect.wifi_rssi,
     ),
     MammotionSensorEntityDescription(
@@ -62,21 +68,21 @@ class MammotionSensorEntityDescription(SensorEntityDescription):
         key="blade_height",
         state_class=SensorStateClass.MEASUREMENT,
         device_class=None,
-        native_unit_of_measurement="mm",
+        native_unit_of_measurement=UnitOfLength.MILLIMETERS,
         value_fn=lambda mower_data: mower_data.work.knife_height,
     ),
     MammotionSensorEntityDescription(
         key="area",
         state_class=SensorStateClass.MEASUREMENT,
         device_class=None,
-        native_unit_of_measurement="m²",
+        native_unit_of_measurement=AREA_SQUARE_METERS,
         value_fn=lambda mower_data: mower_data.work.area & 65535,
     ),
     MammotionSensorEntityDescription(
         key="mowing_speed",
         state_class=SensorStateClass.MEASUREMENT,
         device_class=SensorDeviceClass.SPEED,
-        native_unit_of_measurement="m/s",
+        native_unit_of_measurement=UnitOfSpeed.METERS_PER_SECOND,
         value_fn=lambda mower_data: mower_data.work.man_run_speed / 100,
     ),
     MammotionSensorEntityDescription(
@@ -90,14 +96,14 @@ class MammotionSensorEntityDescription(SensorEntityDescription):
         key="total_time",
         state_class=SensorStateClass.MEASUREMENT,
         device_class=SensorDeviceClass.DURATION,
-        native_unit_of_measurement="min",
+        native_unit_of_measurement=UnitOfTime.MINUTES,
         value_fn=lambda mower_data: mower_data.work.progress & 65535,
     ),
     MammotionSensorEntityDescription(
         key="elapsed_time",
         state_class=SensorStateClass.MEASUREMENT,
         device_class=SensorDeviceClass.DURATION,
-        native_unit_of_measurement="min",
+        native_unit_of_measurement=UnitOfTime.MINUTES,
         value_fn=lambda mower_data: (mower_data.work.progress & 65535)
         - (mower_data.work.progress >> 16),
     ),
@@ -105,7 +111,7 @@ class MammotionSensorEntityDescription(SensorEntityDescription):
         key="left_time",
         state_class=SensorStateClass.MEASUREMENT,
         device_class=SensorDeviceClass.DURATION,
-        native_unit_of_measurement="min",
+        native_unit_of_measurement=UnitOfTime.MINUTES,
         value_fn=lambda mower_data: mower_data.work.progress >> 16,
     ),
     MammotionSensorEntityDescription(
@@ -181,6 +187,16 @@ def __init__(
     @property
     def native_value(self) -> StateType:
         """Return the state of the sensor."""
-        return self.entity_description.value_fn(
+        current_value = self.entity_description.value_fn(
             self.coordinator.data.sys.toapp_report_data
         )
+        unit = self.entity_description.native_unit_of_measurement
+        unit_system = self.hass.config.units
+
+        if unit_system is US_CUSTOMARY_SYSTEM:
+            if unit in LENGTH_UNITS:
+                return DistanceConverter.convert(current_value, LENGTH_UNITS[unit], UnitOfLength.FEET)
+            if unit in SPEED_UNITS:
+                return SpeedConverter.convert(current_value, SPEED_UNITS[unit], UnitOfSpeed.FEET_PER_SECOND)
+
+        return current_value