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Hierarchical mobile management is designed to improve the performance of original Mobile IPv6 protocol. However, such improvements also introduce more complicated protocol behaviors. In order to effectively analyze the functionalities of this protocol, formal methods should be adopted. In this paper, a Colored Petri Nets (CPN) based formal model of Hierarchical Mobile IPv6 (HMIPv6) protocol is proposed. Then, simulation and state space analysis are utilized to validate the model and verify some higher functional properties of HMIPv6 protocol. The proposed formal model could not only be served as an unambiguous and visual formal specification of HMIPv6 protocol, but also facilitate protocol behavior simulation and properties analysis.