ADIS16460 状态/错误标志 出现传感器超出范围

如图所示,在和ADIS16460惯导SPI通信时候,读取状态/错误的状态,出现传感器超出范围,应该怎么解决?目前是product_id、温度值读取上来数据都是正确的,器件放置于桌子上,三轴加速度的值是正确的,三轴的角速度都很大,达到30+ 度每秒,80几 度每秒 。正常应该是接近于0。代码后两张图,用的是STM32处理器,hal库函数进行spi通信,spi相关配置都是正确的。

  • +1
    •  Analog Employees 
    on Jun 18, 2020 3:52 AM 5 months ago

    请用GLOB_CMD [bit2]=1进行自检,自检结束后读寄存器DIAG_STAT[bit5]看是否自检诊断错误。

  • 你好,是这样的。读取出的值是0x0020  诊断显示自检诊断标志位为1。这个程序我是在初始化的时候做的;后面的话,我在while里面等待DR中断,再去读取这个寄存器的值,显示就是0x0010了。

  • 0
    •  Analog Employees 
    on Jul 3, 2020 7:16 AM 4 months ago in reply to ADIS16460_ZY

    好的,请在该状态下把传感器按如下方位放置分别采集一段数据发给我们:#1 XY水平,Z向下。#2)XZ水平,Y,向下。#3)YZ水平,X向上。谢谢。

  • XY水平_Z向上.txt
    14:07:28 heading: 34.3800, pitch: -30.5200, roll: 30.0450, x_acc: -0.00625000, y_acc: -0.114750, z_acc: 1.18750
    14:07:28 heading: 23.8550, pitch: -27.2100, roll: 26.7550, x_acc: -0.00525000, y_acc: -0.113750, z_acc: 1.18725
    14:07:28 heading: -50.9200, pitch: -76.3500, roll: 74.5500, x_acc: -0.00100000, y_acc: -0.113250, z_acc: 1.18775
    14:07:28 heading: -40.4200, pitch: -64.0550, roll: 62.4550, x_acc: -0.00375000, y_acc: -0.113000, z_acc: 1.18750
    14:07:28 heading: 39.1850, pitch: -40.7450, roll: 40.1750, x_acc: -0.00450000, y_acc: -0.112750, z_acc: 1.18625
    14:07:28 heading: -52.4300, pitch: -81.3600, roll: 79.4600, x_acc: -0.00575000, y_acc: -0.113250, z_acc: 1.18550
    14:07:29 heading: -49.3100, pitch: -77.5000, roll: 75.6700, x_acc: -0.00500000, y_acc: -0.112250, z_acc: 1.18625
    14:07:29 heading: -6.82000, pitch: -23.2100, roll: 22.5200, x_acc: -0.00925000, y_acc: -0.116250, z_acc: 1.18650
    14:07:29 heading: 32.6050, pitch: -15.9300, roll: 15.7450, x_acc: -0.00450000, y_acc: -0.113750, z_acc: 1.18650
    14:07:29 heading: 5.79500, pitch: 2.39500, roll: -2.51000, x_acc: -0.00750000, y_acc: -0.115500, z_acc: 1.18825
    14:07:29 heading: -33.1400, pitch: -67.7150, roll: 66.0750, x_acc: -0.00350000, y_acc: -0.114500, z_acc: 1.18650
    14:07:29 heading: -64.5550, pitch: -79.3250, roll: 77.2600, x_acc: -0.00225000, y_acc: -0.114000, z_acc: 1.18975
    14:07:29 heading: 21.9950, pitch: -15.9500, roll: 15.6350, x_acc: -0.00175000, y_acc: -0.114750, z_acc: 1.18725
    14:07:30 heading: -39.1000, pitch: -49.4850, roll: 48.2200, x_acc: -0.00750000, y_acc: -0.114750, z_acc: 1.18750
    14:07:30 heading: -49.9500, pitch: -71.6650, roll: 69.9150, x_acc: -0.000250000, y_acc: -0.112750, z_acc: 1.18875
    14:07:30 heading: -42.1350, pitch: -74.3750, roll: 72.6950, x_acc: -0.00125000, y_acc: -0.112500, z_acc: 1.18950
    14:07:30 heading: -54.9450, pitch: -80.3350, roll: 78.4100, x_acc: -0.00300000, y_acc: -0.112500, z_acc: 1.18875
    14:07:30 heading: 19.3850, pitch: -30.3500, roll: 29.7900, x_acc: -0.00325000, y_acc: -0.112750, z_acc: 1.18625
    14:07:30 heading: -59.3650, pitch: -71.8450, roll: 70.0350, x_acc: -0.00225000, y_acc: -0.112000, z_acc: 1.18850
    14:07:30 heading: 12.6100, pitch: -18.5050, roll: 18.1500, x_acc: -0.00575000, y_acc: -0.114500, z_acc: 1.18800
    14:07:31 heading: -60.6200, pitch: -81.3200, roll: 79.4050, x_acc: -0.00875000, y_acc: -0.111750, z_acc: 1.18525
    14:07:31 heading: 48.1150, pitch: 5.12500, roll: -4.92500, x_acc: -0.0155000, y_acc: -0.117000, z_acc: 1.18850
    14:07:31 heading: 44.2250, pitch: 21.3300, roll: -20.8600, x_acc: -0.00150000, y_acc: -0.115250, z_acc: 1.18950
    14:07:31 heading: 21.4900, pitch: -21.8300, roll: 21.4650, x_acc: -0.00525000, y_acc: -0.117000, z_acc: 1.18800
    14:07:31 heading: 11.7500, pitch: -7.24500, roll: 7.02500, x_acc: -0.00575000, y_acc: -0.116500, z_acc: 1.18750
    14:07:31 heading: 21.0900, pitch: -24.9500, roll: 24.5200, x_acc: -0.00575000, y_acc: -0.116750, z_acc: 1.18775
    14:07:32 heading: -53.2700, pitch: -80.0650, roll: 78.2200, x_acc: -0.000250000, y_acc: -0.114750, z_acc: 1.18925
    14:07:32 heading: -29.2650, pitch: -38.8150, roll: 37.8550, x_acc: -0.00675000, y_acc: -0.116000, z_acc: 1.18800
    14:07:32 heading: 15.9250, pitch: -24.4700, roll: 24.0150, x_acc: -0.00600000, y_acc: -0.115500, z_acc: 1.18800
    14:07:32 heading: 31.2650, pitch: -6.76500, roll: 6.75500, x_acc: -0.00500000, y_acc: -0.114750, z_acc: 1.18750
    14:07:32 heading: 57.6900, pitch: 24.4000, roll: -23.7150, x_acc: -0.00950000, y_acc: -0.114500, z_acc: 1.18675
    14:07:32 heading: -53.0750, pitch: -77.5350, roll: 75.6950, x_acc: -0.00275000, y_acc: -0.113250, z_acc: 1.18725
    14:07:32 heading: 16.3850, pitch: -47.8300, roll: 46.9850, x_acc: -0.00575000, y_acc: -0.115250, z_acc: 1.18925
    14:07:33 heading: 27.5650, pitch: -20.1300, roll: 19.8550, x_acc: -0.00675000, y_acc: -0.113500, z_acc: 1.18925
    14:07:33 heading: -10.6050, pitch: -60.3950, roll: 59.1600, x_acc: -0.00500000, y_acc: -0.113250, z_acc: 1.18775
    14:07:33 heading: 44.7950, pitch: -10.3600, roll: 10.3950, x_acc: -0.00550000, y_acc: -0.113500, z_acc: 1.18825
    14:07:33 heading: -37.5100, pitch: -53.9300, roll: 52.5850, x_acc: -0.00375000, y_acc: -0.113500, z_acc: 1.18775
    14:07:33 heading: -38.5500, pitch: -56.1550, roll: 54.7800, x_acc: -0.00575000, y_acc: -0.112750, z_acc: 1.18700
    14:07:33 heading: -13.2550, pitch: -55.5300, roll: 54.4250, x_acc: -0.00550000, y_acc: -0.113500, z_acc: 1.18950
    14:07:33 heading: 55.2850, pitch: -11.8150, roll: 11.9300, x_acc: -0.00450000, y_acc: -0.113000, z_acc: 1.18700
    14:07:34 heading: -51.2200, pitch: -75.0850, roll: 73.2900, x_acc: -0.00425000, y_acc: -0.112500, z_acc: 1.18875
    14:07:34 heading: 66.1000, pitch: -10.4700, roll: 10.6600, x_acc: -0.00675000, y_acc: -0.113500, z_acc: 1.18875
    14:07:34 heading: -5.60000, pitch: -7.59500, roll: 7.29500, x_acc: -0.00650000, y_acc: -0.114500, z_acc: 1.18750
    14:07:34 heading: 49.3750, pitch: -1.22500, roll: 1.40500, x_acc: -0.00350000, y_acc: -0.113750, z_acc: 1.18825
    14:07:34 heading: 46.2000, pitch: -14.8250, roll: 14.7850, x_acc: -0.00675000, y_acc: -0.114500, z_acc: 1.18775
    14:07:34 heading: -33.6150, pitch: -75.5450, roll: 73.9700, x_acc: -0.00275000, y_acc: -0.113250, z_acc: 1.18750
    14:07:35 heading: -50.1000, pitch: -66.6850, roll: 65.1100, x_acc: -0.00200000, y_acc: -0.111250, z_acc: 1.18900
    14:07:35 heading: -44.8500, pitch: -64.2750, roll: 62.7400, x_acc: -0.00350000, y_acc: -0.112750, z_acc: 1.19125
    14:07:35 heading: -30.8100, pitch: -56.3100, roll: 54.9550, x_acc: -0.00250000, y_acc: -0.112500, z_acc: 1.18950
    14:07:35 heading: 10.7500, pitch: -39.0850, roll: 38.3400, x_acc: -0.00325000, y_acc: -0.115250, z_acc: 1.19300
    14:07:35 heading: -40.1150, pitch: -59.8700, roll: 58.4100, x_acc: 0.000500000, y_acc: -0.112750, z_acc: 1.18875
    14:07:35 heading: 36.4650, pitch: -21.6250, roll: 21.5200, x_acc: -0.00775000, y_acc: -0.114000, z_acc: 1.18825
    14:07:35 heading: 45.9700, pitch: -27.6200, roll: 27.4150, x_acc: -0.00575000, y_acc: -0.113750, z_acc: 1.18950
    14:07:36 heading: -52.0800, pitch: -84.7850, roll: 83.0450, x_acc: -0.00125000, y_acc: -0.112000, z_acc: 1.18225
    14:07:36 heading: 4.12500, pitch: -49.6350, roll: 48.8700, x_acc: -0.00375000, y_acc: -0.112500, z_acc: 1.18575
    14:07:36 heading: 37.2600, pitch: 10.6150, roll: -10.2900, x_acc: -0.0145000, y_acc: -0.114500, z_acc: 1.19075
    14:07:36 heading: -42.6350, pitch: -65.5700, roll: 63.9650, x_acc: -0.0102500, y_acc: -0.114000, z_acc: 1.19475
    14:07:36 heading: 46.4550, pitch: 1.81000, roll: -1.58500, x_acc: 0.00625000, y_acc: -0.113500, z_acc: 1.18950
    14:07:36 heading: 36.2950, pitch: 5.63500, roll: -5.30000, x_acc: -0.0107500, y_acc: -0.115000, z_acc: 1.18950
    14:07:36 heading: -56.4750, pitch: -77.9850, roll: 76.1500, x_acc: 0.00125000, y_acc: -0.112250, z_acc: 1.18500
    14:07:37 heading: -61.1650, pitch: -77.6900, roll: 75.8200, x_acc: 0.00100000, y_acc: -0.113000, z_acc: 1.19000
    14:07:37 heading: 49.8000, pitch: -19.5250, roll: 19.4950, x_acc: -0.00550000, y_acc: -0.114000, z_acc: 1.18975
    14:07:37 heading: -14.7600, pitch: -54.1450, roll: 53.0300, x_acc: -0.00600000, y_acc: -0.113750, z_acc: 1.18950
    14:07:37 heading: -41.3850, pitch: -75.5050, roll: 73.8050, x_acc: -0.00175000, y_acc: -0.112250, z_acc: 1.18975
    14:07:37 heading: -59.4650, pitch: -77.6150, roll: 75.8900, x_acc: -0.00900000, y_acc: -0.113250, z_acc: 1.18525
    14:07:37 heading: -59.5850, pitch: -76.0600, roll: 74.2100, x_acc: -0.0112500, y_acc: -0.113750, z_acc: 1.19500
    14:07:38 heading: -55.4800, pitch: -78.3600, roll: 76.5650, x_acc: 0.0127500, y_acc: -0.111000, z_acc: 1.18925
    14:07:38 heading: -50.0100, pitch: -76.8200, roll: 75.1800, x_acc: -0.0120000, y_acc: -0.113500, z_acc: 1.18600
    14:07:38 heading: 32.7100, pitch: -45.7550, roll: 44.9950, x_acc: -0.00850000, y_acc: -0.112500, z_acc: 1.18675
    14:07:38 heading: -45.2500, pitch: -72.7900, roll: 71.2250, x_acc: 0.00600000, y_acc: -0.111250, z_acc: 1.19050
    14:07:38 heading: -47.6800, pitch: -77.6800, roll: 76.0400, x_acc: -0.00600000, y_acc: -0.113250, z_acc: 1.19050
    14:07:38 heading: 0.480000, pitch: -33.3300, roll: 32.6100, x_acc: -0.0100000, y_acc: -0.114500, z_acc: 1.18300
    14:07:38 heading: 30.9750, pitch: -33.7750, roll: 33.0900, x_acc: -0.00750000, y_acc: -0.115500, z_acc: 1.19800
    14:07:39 heading: -57.4000, pitch: -74.8300, roll: 72.5950, x_acc: 0.00250000, y_acc: -0.113750, z_acc: 1.18325
    14:07:39 heading: 51.1000, pitch: -34.8050, roll: 34.6800, x_acc: -0.0205000, y_acc: -0.117250, z_acc: 1.18325
    14:07:39 heading: -53.0600, pitch: -80.8100, roll: 78.9150, x_acc: -0.00300000, y_acc: -0.113250, z_acc: 1.19300
    14:07:39 heading: -45.3800, pitch: -62.1100, roll: 60.6850, x_acc: -0.00450000, y_acc: -0.112500, z_acc: 1.18800
    14:07:39 heading: -48.9150, pitch: -60.2150, roll: 58.8350, x_acc: -0.00825000, y_acc: -0.111750, z_acc: 1.18500
    14:07:39 heading: 42.0450, pitch: -18.7450, roll: 18.6800, x_acc: -0.00725000, y_acc: -0.111000, z_acc: 1.18850
    14:07:39 heading: 35.2750, pitch: -11.0100, roll: 10.9000, x_acc: -0.00700000, y_acc: -0.113500, z_acc: 1.18875
    14:07:40 heading: -44.6050, pitch: -68.9200, roll: 67.3000, x_acc: -0.00375000, y_acc: -0.111750, z_acc: 1.19075
    14:07:40 heading: 53.3350, pitch: 3.85500, roll: -3.55000, x_acc: -0.00350000, y_acc: -0.113250, z_acc: 1.19000
    14:07:40 heading: -42.9000, pitch: -25.9450, roll: 23.9900, x_acc: -0.0180000, y_acc: -0.124500, z_acc: 1.20025
    14:07:40 heading: -38.2450, pitch: -66.1200, roll: 64.1250, x_acc: -0.00425000, y_acc: -0.123750, z_acc: 1.20175
    14:07:40 heading: -61.4050, pitch: -71.6800, roll: 70.0300, x_acc: 0.0262500, y_acc: -0.118000, z_acc: 1.18600
    14:07:40 heading: -34.7250, pitch: -64.5150, roll: 63.3150, x_acc: -0.0127500, y_acc: -0.118250, z_acc: 1.18575
    14:07:41 heading: 37.3900, pitch: -13.4700, roll: 13.3100, x_acc: -0.0225000, y_acc: -0.118250, z_acc: 1.18450
    14:07:41 heading: 35.4150, pitch: -3.19500, roll: 1.06500, x_acc: 0.0470000, y_acc: -0.133250, z_acc: 1.17600
    14:07:41 heading: 51.0700, pitch: -15.3500, roll: 14.3400, x_acc: 0.0550000, y_acc: -0.131750, z_acc: 1.21675
    14:07:41 heading: 34.3250, pitch: 5.40000, roll: -5.21000, x_acc: 0.0430000, y_acc: -0.127250, z_acc: 1.19075
    14:07:41 heading: -41.5750, pitch: -76.9900, roll: 75.4400, x_acc: -0.0160000, y_acc: -0.116500, z_acc: 1.18675
    14:07:41 heading: 13.9000, pitch: -8.36000, roll: 9.10500, x_acc: -0.00350000, y_acc: -0.104500, z_acc: 1.18425
    14:07:41 heading: -25.0900, pitch: -54.4400, roll: 53.8050, x_acc: -0.0325000, y_acc: -0.111500, z_acc: 1.17425
    14:07:42 heading: 34.4600, pitch: -10.6650, roll: 10.7250, x_acc: -0.0267500, y_acc: -0.116500, z_acc: 1.18500
    14:07:42 heading: 26.4700, pitch: -37.8400, roll: 37.2450, x_acc: 0.000250000, y_acc: -0.115750, z_acc: 1.18750
    14:07:42 heading: 19.5900, pitch: -11.9800, roll: 12.1250, x_acc: -0.0105000, y_acc: -0.114750, z_acc: 1.18900
    14:07:42 heading: 22.1650, pitch: 12.6000, roll: -12.2750, x_acc: -0.00825000, y_acc: -0.116500, z_acc: 1.18875
    14:07:42 heading: 46.8550, pitch: -12.9400, roll: 13.0550, x_acc: -0.000750000, y_acc: -0.114750, z_acc: 1.18925
    14:07:42 heading: -29.6250, pitch: -80.8050, roll: 79.1950, x_acc: -0.00275000, y_acc: -0.114250, z_acc: 1.18850
    14:07:42 heading: 25.2400, pitch: -32.6450, roll: 32.0850, x_acc: -0.0110000, y_acc: -0.115250, z_acc: 1.18275
    14:07:43 heading: 34.8650, pitch: -13.7400, roll: 12.5200, x_acc: -0.0177500, y_acc: -0.116500, z_acc: 1.18100
    14:07:43 heading: 21.9000, pitch: -47.1650, roll: 45.5800, x_acc: 0.00975000, y_acc: -0.117000, z_acc: 1.18975
    14:07:43 heading: -52.7250, pitch: -69.1200, roll: 67.6750, x_acc: 0.0110000, y_acc: -0.123500, z_acc: 1.18325
    14:07:43 heading: -41.4150, pitch: -67.8650, roll: 66.4750, x_acc: 0.00350000, y_acc: -0.107500, z_acc: 1.19125
    14:07:43 heading: -5.73500, pitch: -42.8350, roll: 41.9900, x_acc: -0.0202500, y_acc: -0.108250, z_acc: 1.18825
    14:07:43 heading: 27.0900, pitch: -32.5900, roll: 33.2400, x_acc: 0.000500000, y_acc: -0.102250, z_acc: 1.16950
    14:07:44 heading: -51.3300, pitch: -71.4200, roll: 70.3850, x_acc: -0.00525000, y_acc: -0.107500, z_acc: 1.18775
    14:07:44 heading: -41.0000, pitch: -82.9050, roll: 81.2200, x_acc: -0.0102500, y_acc: -0.112500, z_acc: 1.18800
    14:07:44 heading: 42.7300, pitch: -44.4650, roll: 43.8450, x_acc: -0.00300000, y_acc: -0.112750, z_acc: 1.19000
    14:07:44 heading: 8.24000, pitch: -19.7700, roll: 19.2500, x_acc: 0.0420000, y_acc: -0.114000, z_acc: 1.20050
    14:07:44 heading: 42.4600, pitch: 3.22500, roll: -2.91500, x_acc: 0.0130000, y_acc: -0.124500, z_acc: 1.19075
    14:07:44 heading: 8.16500, pitch: -33.7550, roll: 33.1200, x_acc: -0.00425000, y_acc: -0.124000, z_acc: 1.19325
    14:07:44 heading: -41.6050, pitch: -79.3250, roll: 77.1950, x_acc: 0.00150000, y_acc: -0.123750, z_acc: 1.18750
    14:07:45 heading: -54.1850, pitch: -69.5600, roll: 68.4750, x_acc: 0.0280000, y_acc: -0.112250, z_acc: 1.19725
    14:07:45 heading: -23.7750, pitch: -53.2200, roll: 52.3600, x_acc: -0.00225000, y_acc: -0.114750, z_acc: 1.18850
    14:07:45 heading: -53.9350, pitch: -75.6800, roll: 74.0900, x_acc: -0.0127500, y_acc: -0.113500, z_acc: 1.18450
    14:07:45 heading: 44.0250, pitch: 0.740000, roll: -0.475000, x_acc: -0.00250000, y_acc: -0.113250, z_acc: 1.18925
    14:07:45 heading: -59.7050, pitch: -69.6300, roll: 67.9100, x_acc: -0.00175000, y_acc: -0.112000, z_acc: 1.18825
    14:07:45 heading: -32.7500, pitch: -75.0500, roll: 73.5050, x_acc: -0.00450000, y_acc: -0.113000, z_acc: 1.18600
    14:07:45 heading: 46.3650, pitch: -24.2550, roll: 24.0450, x_acc: -0.0142500, y_acc: -0.116250, z_acc: 1.18425
    14:07:46 heading: 38.6200, pitch: -12.5850, roll: 12.7700, x_acc: 0.00100000, y_acc: -0.112500, z_acc: 1.18900
    14:07:46 heading: 39.9150, pitch: -15.2950, roll: 15.2800, x_acc: -0.00475000, y_acc: -0.112000, z_acc: 1.18675
    14:07:46 heading: -39.5500, pitch: -75.0550, roll: 73.5000, x_acc: -0.00375000, y_acc: -0.111750, z_acc: 1.18700
    14:07:46 heading: -35.0150, pitch: -73.6100, roll: 72.0150, x_acc: -0.00300000, y_acc: -0.113500, z_acc: 1.18875
    14:07:46 heading: -59.8700, pitch: -75.1000, roll: 73.3350, x_acc: -0.00675000, y_acc: -0.114250, z_acc: 1.18825
    14:07:46 heading: -33.2700, pitch: -63.7100, roll: 62.3650, x_acc: -0.00375000, y_acc: -0.113500, z_acc: 1.18775
    14:07:47 heading: -12.7850, pitch: -15.6800, roll: 15.2350, x_acc: -0.00475000, y_acc: -0.112750, z_acc: 1.18925
    14:07:47 heading: -14.9850, pitch: -71.4600, roll: 70.2500, x_acc: -0.00675000, y_acc: -0.113750, z_acc: 1.18725
    14:07:47 heading: -19.7000, pitch: -49.5850, roll: 48.3450, x_acc: -0.00600000, y_acc: -0.112750, z_acc: 1.18625
    14:07:47 heading: -47.4150, pitch: -80.5950, roll: 78.9100, x_acc: -0.00425000, y_acc: -0.111000, z_acc: 1.18775
    14:07:47 heading: 40.7000, pitch: -9.88500, roll: 9.86500, x_acc: -0.00200000, y_acc: -0.112000, z_acc: 1.19100
    14:07:47 heading: 51.5850, pitch: -11.8550, roll: 11.9350, x_acc: -0.00250000, y_acc: -0.113000, z_acc: 1.18675
    14:07:47 heading: 63.3000, pitch: -23.0150, roll: 23.0600, x_acc: -0.00400000, y_acc: -0.113000, z_acc: 1.18750
    14:07:48 heading: 17.9700, pitch: -9.18000, roll: 9.08500, x_acc: -0.00575000, y_acc: -0.115000, z_acc: 1.18675
    14:07:48 heading: 58.3650, pitch: -26.1100, roll: 26.0300, x_acc: -0.00325000, y_acc: -0.112500, z_acc: 1.19125
    14:07:48 heading: -56.4450, pitch: -73.9300, roll: 72.1350, x_acc: -0.00125000, y_acc: -0.112500, z_acc: 1.18800
    14:07:48 heading: 46.1050, pitch: -15.1150, roll: 15.0950, x_acc: -0.00550000, y_acc: -0.114000, z_acc: 1.18900
    14:07:48 heading: 5.23000, pitch: -33.9200, roll: 33.4300, x_acc: -0.00350000, y_acc: -0.114750, z_acc: 1.18875
    14:07:48 heading: -39.7300, pitch: -86.9750, roll: 85.2700, x_acc: -0.00375000, y_acc: -0.113750, z_acc: 1.18675
    14:07:48 heading: 43.7200, pitch: 9.96000, roll: -9.46500, x_acc: -0.000750000, y_acc: -0.112500, z_acc: 1.18825
    14:07:49 heading: 25.8450, pitch: 4.16000, roll: -3.78000, x_acc: -0.00700000, y_acc: -0.113750, z_acc: 1.19000
    14:07:49 heading: 41.3050, pitch: 0.995000, roll: -0.715000, x_acc: -0.00600000, y_acc: -0.112750, z_acc: 1.18975
    14:07:49 heading: -53.0700, pitch: -70.8200, roll: 69.2350, x_acc: -0.00375000, y_acc: -0.111750, z_acc: 1.18700
    14:07:49 heading: 49.6050, pitch: -34.7700, roll: 34.4650, x_acc: -0.00275000, y_acc: -0.111250, z_acc: 1.18950
    14:07:49 heading: -51.7150, pitch: -69.9150, roll: 68.2650, x_acc: -0.00325000, y_acc: -0.114250, z_acc: 1.18625
    14:07:49 heading: -56.4050, pitch: -87.6950, roll: 85.7100, x_acc: -0.000250000, y_acc: -0.113250, z_acc: 1.18725
    14:07:50 heading: 15.2600, pitch: -45.6350, roll: 44.9800, x_acc: -0.00375000, y_acc: -0.114000, z_acc: 1.18900
    14:07:50 heading: 16.9350, pitch: -42.3550, roll: 41.7300, x_acc: -0.00225000, y_acc: -0.113750, z_acc: 1.18875
    14:07:50 heading: -35.7000, pitch: -82.9350, roll: 81.2350, x_acc: 0.000750000, y_acc: -0.112000, z_acc: 1.18775
    14:07:50 heading: -32.7300, pitch: -62.5400, roll: 61.2850, x_acc: -0.00725000, y_acc: -0.113500, z_acc: 1.18850
    14:07:50 heading: 17.1600, pitch: 2.69500, roll: -2.53500, x_acc: -0.00325000, y_acc: -0.112250, z_acc: 1.18925
    14:07:50 heading: 37.4500, pitch: -35.3850, roll: 35.1000, x_acc: -0.00625000, y_acc: -0.112750, z_acc: 1.19000
    14:07:50 heading: 51.8550, pitch: -37.3200, roll: 36.9500, x_acc: -0.00700000, y_acc: -0.113000, z_acc: 1.18725
    14:07:51 heading: -31.9750, pitch: -59.0450, roll: 57.8350, x_acc: 0.00175000, y_acc: -0.112250, z_acc: 1.19200
    14:07:51 heading: 54.0950, pitch: -18.8450, roll: 18.8550, x_acc: -0.00225000, y_acc: -0.113000, z_acc: 1.18800
    14:07:51 heading: -54.2600, pitch: -68.6350, roll: 67.0500, x_acc: -0.00375000, y_acc: -0.112750, z_acc: 1.18075
    14:07:51 heading: -23.7200, pitch: -58.3600, roll: 56.9200, x_acc: -0.000500000, y_acc: -0.115250, z_acc: 1.19400
    14:07:51 heading: -51.1350, pitch: -77.0000, roll: 75.2900, x_acc: 0.000500000, y_acc: -0.112500, z_acc: 1.19100
    14:07:51 heading: 19.0150, pitch: -34.3450, roll: 33.9250, x_acc: -0.00850000, y_acc: -0.112000, z_acc: 1.18725
    14:07:51 heading: -59.3500, pitch: -76.2550, roll: 74.5000, x_acc: -0.00125000, y_acc: -0.112500, z_acc: 1.18575
    14:07:52 heading: 8.26500, pitch: -54.3300, roll: 53.4650, x_acc: -0.00375000, y_acc: -0.112250, z_acc: 1.18875
    14:07:52 heading: -56.5400, pitch: -82.0500, roll: 80.2300, x_acc: -0.00400000, y_acc: -0.112250, z_acc: 1.18825
    14:07:52 heading: -37.3350, pitch: -48.8200, roll: 47.6850, x_acc: -0.00150000, y_acc: -0.112500, z_acc: 1.18850
    14:07:52 heading: -40.1450, pitch: -70.3150, roll: 68.7800, x_acc: 0.000250000, y_acc: -0.113500, z_acc: 1.18675
    14:07:52 heading: 13.2200, pitch: -22.7100, roll: 22.4000, x_acc: -0.00850000, y_acc: -0.114500, z_acc: 1.18875
    14:07:52 heading: -39.9300, pitch: -76.7000, roll: 75.0800, x_acc: 0.00150000, y_acc: -0.112000, z_acc: 1.18875
    14:07:53 heading: -2.66000, pitch: -44.6650, roll: 43.9150, x_acc: -0.00775000, y_acc: -0.114500, z_acc: 1.18900
    14:07:53 heading: -36.0250, pitch: -42.2050, roll: 41.2300, x_acc: -0.00525000, y_acc: -0.114250, z_acc: 1.18875
    14:07:53 heading: 40.9850, pitch: -2.86000, roll: 3.05500, x_acc: -0.00325000, y_acc: -0.112750, z_acc: 1.18825
    14:07:53 heading: -37.9050, pitch: -77.4500, roll: 75.7950, x_acc: 0.000250000, y_acc: -0.112000, z_acc: 1.18775
    14:07:53 heading: 12.9250, pitch: -39.0800, roll: 38.5000, x_acc: -0.00500000, y_acc: -0.114000, z_acc: 1.18700
    14:07:53 heading: 3.32500, pitch: -51.2600, roll: 50.3600, x_acc: -0.00525000, y_acc: -0.112250, z_acc: 1.18975
    14:07:53 heading: -63.5500, pitch: -75.4250, roll: 73.6600, x_acc: 0.000250000, y_acc: -0.111000, z_acc: 1.19100
    14:07:54 heading: 40.6650, pitch: -21.2950, roll: 21.2050, x_acc: -0.00250000, y_acc: -0.112750, z_acc: 1.18925
    14:07:54 heading: -50.2100, pitch: -70.0850, roll: 68.5200, x_acc: -0.00250000, y_acc: -0.113250, z_acc: 1.18800
    14:07:54 heading: -57.8900, pitch: -71.9200, roll: 70.1850, x_acc: 0.000500000, y_acc: -0.113750, z_acc: 1.19100
    
    XZ水平_Y向上.txt
    14:07:20 heading: 7.50500, pitch: -29.2250, roll: 29.5100, x_acc: 0.0322500, y_acc: 0.944250, z_acc: 0.220500
    14:07:21 heading: -48.1150, pitch: -67.1450, roll: 66.7150, x_acc: 0.0317500, y_acc: 0.948750, z_acc: 0.236000
    14:07:21 heading: -27.1450, pitch: -49.5700, roll: 51.1900, x_acc: 0.0417500, y_acc: 0.941250, z_acc: 0.238000
    14:07:21 heading: 19.9100, pitch: -39.1550, roll: 37.1950, x_acc: 0.0440000, y_acc: 0.944750, z_acc: 0.258750
    14:07:21 heading: 21.6050, pitch: -17.5450, roll: 18.1650, x_acc: 0.0350000, y_acc: 0.944250, z_acc: 0.236000
    14:07:21 heading: 49.1700, pitch: -10.8200, roll: 10.9150, x_acc: 0.0395000, y_acc: 0.941500, z_acc: 0.245000
    14:07:21 heading: -61.3400, pitch: -80.6550, roll: 78.4300, x_acc: 0.0370000, y_acc: 0.946000, z_acc: 0.237500
    14:07:21 heading: -56.8900, pitch: -82.5400, roll: 81.5150, x_acc: 0.0395000, y_acc: 0.947500, z_acc: 0.235000
    14:07:22 heading: -41.4750, pitch: -48.4250, roll: 47.7650, x_acc: 0.0415000, y_acc: 0.939500, z_acc: 0.264000
    14:07:22 heading: -32.0450, pitch: -62.5850, roll: 61.0800, x_acc: 0.0380000, y_acc: 0.944000, z_acc: 0.271500
    14:07:22 heading: -54.2850, pitch: -80.3550, roll: 79.1850, x_acc: 0.0440000, y_acc: 0.944250, z_acc: 0.264500
    14:07:22 heading: -49.8250, pitch: -57.7150, roll: 57.4550, x_acc: 0.0572500, y_acc: 0.951750, z_acc: 0.254250
    14:07:22 heading: -51.7600, pitch: -61.8300, roll: 61.3450, x_acc: 0.0410000, y_acc: 0.945250, z_acc: 0.256750
    14:07:22 heading: -8.86500, pitch: -54.1700, roll: 55.6150, x_acc: 0.0415000, y_acc: 0.944250, z_acc: 0.237500
    14:07:22 heading: 51.8650, pitch: -12.7700, roll: 14.7700, x_acc: 0.0495000, y_acc: 0.939500, z_acc: 0.252250
    14:07:23 heading: -14.3650, pitch: -59.1000, roll: 59.6500, x_acc: 0.0552500, y_acc: 0.941750, z_acc: 0.276250
    14:07:23 heading: -57.2350, pitch: -46.5650, roll: 46.2100, x_acc: 0.0575000, y_acc: 0.939250, z_acc: 0.296500
    14:07:23 heading: -50.0900, pitch: -67.5500, roll: 64.9100, x_acc: 0.0560000, y_acc: 0.941750, z_acc: 0.254000
    14:07:23 heading: -31.3300, pitch: -68.1600, roll: 66.7050, x_acc: 0.0585000, y_acc: 0.943500, z_acc: 0.258000
    14:07:23 heading: -27.0850, pitch: -54.5350, roll: 53.5900, x_acc: 0.0567500, y_acc: 0.940000, z_acc: 0.265000
    14:07:23 heading: 38.3550, pitch: -10.7900, roll: 10.0950, x_acc: 0.0542500, y_acc: 0.941250, z_acc: 0.262500
    14:07:24 heading: 27.6750, pitch: -3.26000, roll: 3.75500, x_acc: 0.0500000, y_acc: 0.941750, z_acc: 0.254750
    14:07:24 heading: 16.3100, pitch: -23.1150, roll: 22.7950, x_acc: 0.0647500, y_acc: 0.938750, z_acc: 0.231750
    14:07:24 heading: -46.5400, pitch: -64.1100, roll: 62.0900, x_acc: 0.0515000, y_acc: 0.942500, z_acc: 0.259000
    14:07:24 heading: 7.08000, pitch: -36.0850, roll: 36.1550, x_acc: 0.0590000, y_acc: 0.941250, z_acc: 0.256500
    14:07:24 heading: 34.4300, pitch: -1.37000, roll: 0.365000, x_acc: 0.0525000, y_acc: 0.941250, z_acc: 0.252750
    14:07:24 heading: -46.2000, pitch: -71.1400, roll: 70.4800, x_acc: 0.0490000, y_acc: 0.945000, z_acc: 0.255000
    14:07:24 heading: -57.6100, pitch: -79.5650, roll: 78.1150, x_acc: 0.0592500, y_acc: 0.945750, z_acc: 0.240750
    14:07:25 heading: -48.5250, pitch: -68.0250, roll: 65.6050, x_acc: 0.0497500, y_acc: 0.944000, z_acc: 0.240500
    14:07:25 heading: 57.3950, pitch: -6.39500, roll: 7.46500, x_acc: 0.0555000, y_acc: 0.940500, z_acc: 0.236250
    14:07:25 heading: -47.9100, pitch: -57.2350, roll: 55.7100, x_acc: 0.0510000, y_acc: 0.945750, z_acc: 0.250250
    14:07:25 heading: -32.2900, pitch: -60.3350, roll: 59.4600, x_acc: 0.0580000, y_acc: 0.942750, z_acc: 0.248250
    14:07:25 heading: -50.7250, pitch: -81.8900, roll: 79.2100, x_acc: 0.0570000, y_acc: 0.944500, z_acc: 0.231000
    14:07:25 heading: -39.2400, pitch: -64.0650, roll: 63.2700, x_acc: 0.0527500, y_acc: 0.947250, z_acc: 0.217750
    14:07:25 heading: 14.1600, pitch: -29.4000, roll: 28.8300, x_acc: 0.0542500, y_acc: 0.942250, z_acc: 0.250250
    14:07:26 heading: 10.6950, pitch: -32.5450, roll: 31.5650, x_acc: 0.0477500, y_acc: 0.941000, z_acc: 0.251500
    14:07:26 heading: -53.8900, pitch: -70.4550, roll: 68.2450, x_acc: 0.0545000, y_acc: 0.940750, z_acc: 0.223750
    14:07:26 heading: 18.8450, pitch: -36.3900, roll: 35.1400, x_acc: 0.0367500, y_acc: 0.948500, z_acc: 0.240000
    14:07:26 heading: 68.7750, pitch: 0.525000, roll: 0.880000, x_acc: 0.0490000, y_acc: 0.944250, z_acc: 0.255250
    14:07:26 heading: -57.3750, pitch: -84.2100, roll: 82.2400, x_acc: 0.0540000, y_acc: 0.943500, z_acc: 0.251000
    14:07:26 heading: -24.9150, pitch: -52.7650, roll: 51.8150, x_acc: 0.0465000, y_acc: 0.945500, z_acc: 0.233750
    14:07:27 heading: -63.6700, pitch: -81.6100, roll: 80.1150, x_acc: 0.0540000, y_acc: 0.946500, z_acc: 0.253250
    14:07:27 heading: -42.7400, pitch: -63.0050, roll: 62.2850, x_acc: 0.0502500, y_acc: 0.943500, z_acc: 0.244500
    14:07:27 heading: -19.6850, pitch: -27.1850, roll: 26.3950, x_acc: 0.0562500, y_acc: 0.943500, z_acc: 0.247000
    14:07:27 heading: -42.1150, pitch: -69.3300, roll: 67.5250, x_acc: 0.0532500, y_acc: 0.944000, z_acc: 0.240750
    14:07:27 heading: 58.0900, pitch: -5.06500, roll: 4.95000, x_acc: 0.0497500, y_acc: 0.945250, z_acc: 0.245500
    14:07:27 heading: -39.2850, pitch: -70.1800, roll: 68.4550, x_acc: 0.0490000, y_acc: 0.945250, z_acc: 0.242500
    14:07:27 heading: -33.6600, pitch: -50.2000, roll: 51.0900, x_acc: 0.0487500, y_acc: 0.943500, z_acc: 0.248000
    14:07:28 heading: 4.84000, pitch: -25.4000, roll: 25.3650, x_acc: 0.0532500, y_acc: 0.939750, z_acc: 0.245250
    14:07:28 heading: 53.7450, pitch: -2.28500, roll: 2.45500, x_acc: 0.0517500, y_acc: 0.944000, z_acc: 0.244250
    14:07:28 heading: -63.2350, pitch: -79.3000, roll: 77.3650, x_acc: 0.0517500, y_acc: 0.943250, z_acc: 0.226750
    14:07:28 heading: 46.2800, pitch: -17.5600, roll: 17.4200, x_acc: 0.0470000, y_acc: 0.942000, z_acc: 0.251250
    14:07:28 heading: -49.5750, pitch: -72.8900, roll: 72.3950, x_acc: 0.0605000, y_acc: 0.940000, z_acc: 0.264000
    14:07:28 heading: -45.1600, pitch: -65.1050, roll: 62.7100, x_acc: 0.0565000, y_acc: 0.944000, z_acc: 0.261000
    14:07:28 heading: -51.7200, pitch: -67.1600, roll: 65.5500, x_acc: 0.0465000, y_acc: 0.947500, z_acc: 0.250000
    14:07:29 heading: -55.2800, pitch: -83.4350, roll: 82.2500, x_acc: 0.0557500, y_acc: 0.943500, z_acc: 0.235500
    14:07:29 heading: -44.2300, pitch: -70.0600, roll: 68.8350, x_acc: 0.0552500, y_acc: 0.941250, z_acc: 0.264750
    14:07:29 heading: 12.2750, pitch: -31.1000, roll: 29.7050, x_acc: 0.0500000, y_acc: 0.942250, z_acc: 0.247000
    14:07:29 heading: 53.8050, pitch: -22.7150, roll: 22.7800, x_acc: 0.0515000, y_acc: 0.945500, z_acc: 0.253500
    14:07:29 heading: -4.41500, pitch: -31.5350, roll: 32.9700, x_acc: 0.0560000, y_acc: 0.945250, z_acc: 0.241000
    14:07:29 heading: -46.6200, pitch: -51.2900, roll: 49.5800, x_acc: 0.0645000, y_acc: 0.944500, z_acc: 0.250750
    14:07:30 heading: 22.5350, pitch: -26.1750, roll: 26.6750, x_acc: 0.0437500, y_acc: 0.945750, z_acc: 0.250500
    14:07:30 heading: 54.0100, pitch: -25.8350, roll: 26.4000, x_acc: 0.0575000, y_acc: 0.941750, z_acc: 0.249000
    14:07:30 heading: -13.0650, pitch: -24.5500, roll: 24.6550, x_acc: 0.0602500, y_acc: 0.939750, z_acc: 0.254250
    14:07:30 heading: -2.25000, pitch: -55.9500, roll: 55.5200, x_acc: 0.0552500, y_acc: 0.948500, z_acc: 0.226750
    14:07:30 heading: -48.0550, pitch: -64.5300, roll: 63.8900, x_acc: 0.0602500, y_acc: 0.943500, z_acc: 0.259500
    14:07:30 heading: 35.6200, pitch: 2.69000, roll: -1.93000, x_acc: 0.0620000, y_acc: 0.940000, z_acc: 0.267750
    14:07:30 heading: 51.8850, pitch: -26.0700, roll: 25.0900, x_acc: 0.0595000, y_acc: 0.943750, z_acc: 0.258250
    14:07:31 heading: 41.5600, pitch: -1.59500, roll: 2.35000, x_acc: 0.0530000, y_acc: 0.943500, z_acc: 0.248250
    14:07:31 heading: 60.8050, pitch: -30.1200, roll: 29.7400, x_acc: 0.0695000, y_acc: 0.935000, z_acc: 0.261500
    14:07:31 heading: -51.9750, pitch: -73.5350, roll: 71.6500, x_acc: 0.0582500, y_acc: 0.941250, z_acc: 0.261000
    14:07:31 heading: -50.6550, pitch: -84.2700, roll: 81.1850, x_acc: 0.0715000, y_acc: 0.938250, z_acc: 0.247500
    14:07:31 heading: 10.5600, pitch: -50.9450, roll: 49.0400, x_acc: 0.0472500, y_acc: 0.943000, z_acc: 0.263250
    14:07:31 heading: 34.5350, pitch: -29.0850, roll: 29.4100, x_acc: 0.0565000, y_acc: 0.939250, z_acc: 0.237000
    14:07:31 heading: 13.8650, pitch: -18.9400, roll: 18.3600, x_acc: 0.0530000, y_acc: 0.944250, z_acc: 0.259250
    14:07:32 heading: 26.3150, pitch: -35.5850, roll: 34.6400, x_acc: 0.0552500, y_acc: 0.941500, z_acc: 0.256750
    14:07:32 heading: 11.3300, pitch: -22.3850, roll: 21.8400, x_acc: 0.0482500, y_acc: 0.942000, z_acc: 0.255250
    14:07:32 heading: -51.2700, pitch: -80.4600, roll: 79.5050, x_acc: 0.0592500, y_acc: 0.943500, z_acc: 0.247500
    14:07:32 heading: -38.9050, pitch: -67.9150, roll: 66.1200, x_acc: 0.0525000, y_acc: 0.944000, z_acc: 0.243750
    14:07:32 heading: -37.6750, pitch: -73.7150, roll: 73.1300, x_acc: 0.0572500, y_acc: 0.941500, z_acc: 0.249500
    14:07:32 heading: 29.3550, pitch: -21.3450, roll: 21.0950, x_acc: 0.0542500, y_acc: 0.941750, z_acc: 0.255750
    14:07:33 heading: -52.7200, pitch: -78.1450, roll: 76.3000, x_acc: 0.0552500, y_acc: 0.943250, z_acc: 0.252750
    14:07:33 heading: -34.7700, pitch: -66.4550, roll: 65.7900, x_acc: 0.0582500, y_acc: 0.945000, z_acc: 0.261250
    14:07:33 heading: -9.44500, pitch: -31.9500, roll: 32.1400, x_acc: 0.0580000, y_acc: 0.942000, z_acc: 0.264250
    14:07:33 heading: 33.6200, pitch: -30.5550, roll: 30.1250, x_acc: 0.0625000, y_acc: 0.939750, z_acc: 0.261750
    14:07:33 heading: -49.5200, pitch: -69.7050, roll: 68.1650, x_acc: 0.0617500, y_acc: 0.940500, z_acc: 0.250250
    14:07:33 heading: 25.9500, pitch: -39.3800, roll: 37.9100, x_acc: 0.0580000, y_acc: 0.944000, z_acc: 0.237000
    14:07:33 heading: -38.9150, pitch: -52.9500, roll: 52.1350, x_acc: 0.0542500, y_acc: 0.941250, z_acc: 0.268000
    14:07:34 heading: 46.6800, pitch: 5.22000, roll: -5.08500, x_acc: 0.0635000, y_acc: 0.936500, z_acc: 0.254750
    14:07:34 heading: -47.5950, pitch: -79.9900, roll: 78.1650, x_acc: 0.0520000, y_acc: 0.945500, z_acc: 0.260500
    14:07:34 heading: -9.75000, pitch: -29.2300, roll: 28.8900, x_acc: 0.0542500, y_acc: 0.941000, z_acc: 0.245750
    14:07:34 heading: 52.5750, pitch: 8.83500, roll: -8.25000, x_acc: 0.0577500, y_acc: 0.938250, z_acc: 0.269750
    14:07:34 heading: 7.00500, pitch: -31.6350, roll: 30.3900, x_acc: 0.0480000, y_acc: 0.941000, z_acc: 0.258500
    14:07:34 heading: 47.5300, pitch: -16.7700, roll: 17.3700, x_acc: 0.0552500, y_acc: 0.944750, z_acc: 0.241000
    14:07:34 heading: -40.0200, pitch: -74.1950, roll: 73.1950, x_acc: 0.0595000, y_acc: 0.943500, z_acc: 0.250250
    14:07:35 heading: 39.7100, pitch: -27.8600, roll: 27.4850, x_acc: 0.0537500, y_acc: 0.940750, z_acc: 0.245250
    14:07:35 heading: -57.4050, pitch: -78.9750, roll: 77.7500, x_acc: 0.0562500, y_acc: 0.942250, z_acc: 0.274250
    14:07:35 heading: 8.99000, pitch: -39.6600, roll: 39.9050, x_acc: 0.0637500, y_acc: 0.937000, z_acc: 0.263000
    14:07:35 heading: 49.0250, pitch: 7.24500, roll: -7.43000, x_acc: 0.0527500, y_acc: 0.939750, z_acc: 0.266250
    14:07:35 heading: 5.98500, pitch: -29.8350, roll: 30.2600, x_acc: 0.0550000, y_acc: 0.943750, z_acc: 0.255250
    14:07:35 heading: -40.9700, pitch: -55.4750, roll: 54.2600, x_acc: 0.0645000, y_acc: 0.940500, z_acc: 0.249000
    14:07:35 heading: -50.1750, pitch: -82.4900, roll: 81.0800, x_acc: 0.0617500, y_acc: 0.941500, z_acc: 0.261500
    14:07:36 heading: 31.6450, pitch: -28.8800, roll: 28.6300, x_acc: 0.0607500, y_acc: 0.939500, z_acc: 0.265250
    14:07:36 heading: -43.9000, pitch: -74.7600, roll: 72.9950, x_acc: 0.0590000, y_acc: 0.943750, z_acc: 0.260250
    14:07:36 heading: -39.1050, pitch: -53.6500, roll: 52.7300, x_acc: 0.0610000, y_acc: 0.941750, z_acc: 0.263000
    14:07:36 heading: -28.6650, pitch: -37.4500, roll: 36.7950, x_acc: 0.0567500, y_acc: 0.942750, z_acc: 0.273250
    14:07:36 heading: -25.4600, pitch: -51.5450, roll: 50.5900, x_acc: 0.0645000, y_acc: 0.939750, z_acc: 0.263000
    14:07:36 heading: -65.0000, pitch: -80.4000, roll: 78.3250, x_acc: 0.0612500, y_acc: 0.942500, z_acc: 0.257750
    14:07:37 heading: 20.6750, pitch: -31.2500, roll: 31.1900, x_acc: 0.0615000, y_acc: 0.940500, z_acc: 0.263500
    14:07:37 heading: 31.8950, pitch: -19.0000, roll: 18.4900, x_acc: 0.0632500, y_acc: 0.939500, z_acc: 0.260750
    14:07:37 heading: -2.66000, pitch: -38.7900, roll: 38.3900, x_acc: 0.0617500, y_acc: 0.938750, z_acc: 0.262500
    14:07:37 heading: -65.5750, pitch: -82.8300, roll: 79.5800, x_acc: 0.0620000, y_acc: 0.940750, z_acc: 0.269250
    
    YZ水平_X向上.txt
    14:07:54 heading: -57.8600, pitch: -68.1950, roll: 66.7600, x_acc: 0.998250, y_acc: -0.0935000, z_acc: 0.156750
    14:07:54 heading: -37.4200, pitch: -67.6400, roll: 65.3750, x_acc: 1.00975, y_acc: -0.0920000, z_acc: 0.146000
    14:07:54 heading: -35.8450, pitch: -52.3000, roll: 49.9150, x_acc: 1.01000, y_acc: -0.0887500, z_acc: 0.158000
    14:07:55 heading: 23.1650, pitch: -24.8200, roll: 21.9650, x_acc: 1.00500, y_acc: -0.0882500, z_acc: 0.154250
    14:07:55 heading: -40.5750, pitch: -74.8700, roll: 74.5900, x_acc: 1.00550, y_acc: -0.0877500, z_acc: 0.136500
    14:07:55 heading: 33.2350, pitch: -9.00500, roll: 8.89000, x_acc: 0.996250, y_acc: -0.0975000, z_acc: 0.163000
    14:07:55 heading: 55.8450, pitch: -19.5600, roll: 23.1600, x_acc: 0.996250, y_acc: -0.0985000, z_acc: 0.144250
    14:07:55 heading: -15.7350, pitch: -41.2950, roll: 40.7950, x_acc: 0.994500, y_acc: -0.0885000, z_acc: 0.178500
    14:07:55 heading: -30.5300, pitch: -73.9000, roll: 71.8300, x_acc: 0.989750, y_acc: -0.0905000, z_acc: 0.166250
    14:07:55 heading: -57.8200, pitch: -73.1800, roll: 73.3750, x_acc: 1.00100, y_acc: -0.0927500, z_acc: 0.162250
    14:07:56 heading: -32.5150, pitch: -52.3650, roll: 50.2100, x_acc: 0.993500, y_acc: -0.102250, z_acc: 0.153000
    14:07:56 heading: -42.6550, pitch: -80.8650, roll: 79.9250, x_acc: 0.995250, y_acc: -0.101000, z_acc: 0.157000
    14:07:56 heading: 33.6950, pitch: -18.6400, roll: 15.7600, x_acc: 1.00475, y_acc: -0.0972500, z_acc: 0.147750
    14:07:56 heading: 51.3150, pitch: -28.2850, roll: 27.4650, x_acc: 0.997750, y_acc: -0.0897500, z_acc: 0.154500
    14:07:56 heading: -50.9900, pitch: -70.0100, roll: 66.9400, x_acc: 0.998750, y_acc: -0.0937500, z_acc: 0.168250
    14:07:56 heading: -47.8300, pitch: -71.1600, roll: 70.5000, x_acc: 0.989000, y_acc: -0.0937500, z_acc: 0.150250
    14:07:56 heading: 13.6450, pitch: -25.4600, roll: 27.2650, x_acc: 0.993500, y_acc: -0.0827500, z_acc: 0.177750
    14:07:57 heading: 26.5400, pitch: -26.7200, roll: 27.8750, x_acc: 0.988500, y_acc: -0.0895000, z_acc: 0.168250
    14:07:57 heading: -62.1500, pitch: -79.9450, roll: 81.2050, x_acc: 0.998000, y_acc: -0.0920000, z_acc: 0.160250
    14:07:57 heading: 45.1600, pitch: -18.6900, roll: 14.7200, x_acc: 1.00025, y_acc: -0.0975000, z_acc: 0.153000
    14:07:57 heading: -58.8800, pitch: -75.0100, roll: 74.6050, x_acc: 0.998750, y_acc: -0.0937500, z_acc: 0.150500
    14:07:57 heading: -25.4600, pitch: -39.0000, roll: 36.5100, x_acc: 1.00375, y_acc: -0.101750, z_acc: 0.150000
    14:07:57 heading: -54.7200, pitch: -68.0900, roll: 66.4450, x_acc: 1.00275, y_acc: -0.0847500, z_acc: 0.156750
    14:07:58 heading: -31.2800, pitch: -59.8150, roll: 60.0250, x_acc: 0.995000, y_acc: -0.101500, z_acc: 0.174750
    14:07:58 heading: -42.2300, pitch: -73.6800, roll: 67.9300, x_acc: 0.997000, y_acc: -0.0947500, z_acc: 0.154000
    14:07:58 heading: -13.6650, pitch: -22.8250, roll: 24.0250, x_acc: 0.995500, y_acc: -0.0860000, z_acc: 0.161750
    14:07:58 heading: 51.9050, pitch: -20.5600, roll: 26.1050, x_acc: 1.00475, y_acc: -0.0962500, z_acc: 0.156000
    14:07:58 heading: 21.7400, pitch: -16.4950, roll: 19.8800, x_acc: 1.00000, y_acc: -0.0962500, z_acc: 0.157750
    14:07:58 heading: 36.2400, pitch: -30.8900, roll: 31.2550, x_acc: 0.985750, y_acc: -0.101500, z_acc: 0.167500
    14:07:58 heading: 0.305000, pitch: -53.2600, roll: 52.9400, x_acc: 1.01275, y_acc: -0.0960000, z_acc: 0.176750
    14:07:59 heading: -54.2950, pitch: -77.8800, roll: 79.4900, x_acc: 0.999250, y_acc: -0.103500, z_acc: 0.188250
    14:07:59 heading: -3.43500, pitch: -16.7700, roll: 15.5450, x_acc: 0.983750, y_acc: -0.0995000, z_acc: 0.180750
    14:07:59 heading: 29.5350, pitch: -34.3100, roll: 34.5450, x_acc: 0.993500, y_acc: -0.101000, z_acc: 0.162000
    14:07:59 heading: 35.6550, pitch: -6.70000, roll: 6.06500, x_acc: 0.997500, y_acc: -0.0997500, z_acc: 0.186500
    14:07:59 heading: -53.5400, pitch: -66.8500, roll: 63.8500, x_acc: 0.998750, y_acc: -0.0970000, z_acc: 0.177250
    14:07:59 heading: 43.5750, pitch: -5.19500, roll: 3.64500, x_acc: 1.00075, y_acc: -0.0975000, z_acc: 0.151250
    14:07:59 heading: -51.1200, pitch: -64.2750, roll: 63.2300, x_acc: 1.00250, y_acc: -0.0917500, z_acc: 0.138500
    14:07:00 heading: 57.4500, pitch: 14.2650, roll: -12.9700, x_acc: 0.991500, y_acc: -0.0957500, z_acc: 0.164500
    14:07:00 heading: 13.9450, pitch: -44.7150, roll: 45.3400, x_acc: 0.995750, y_acc: -0.0957500, z_acc: 0.174000
    14:07:00 heading: 22.2100, pitch: -16.5450, roll: 18.8850, x_acc: 0.985500, y_acc: -0.113250, z_acc: 0.172250
    14:07:00 heading: 51.0250, pitch: 12.7950, roll: -12.7150, x_acc: 0.988000, y_acc: -0.104250, z_acc: 0.190500
    14:07:00 heading: 37.1350, pitch: -11.3650, roll: 12.3950, x_acc: 0.992500, y_acc: -0.101500, z_acc: 0.179250
    14:07:00 heading: -45.3800, pitch: -71.7550, roll: 68.0500, x_acc: 0.996000, y_acc: -0.100250, z_acc: 0.168250
    14:07:01 heading: -36.4550, pitch: -65.4300, roll: 65.6200, x_acc: 1.00025, y_acc: -0.0867500, z_acc: 0.168750
    14:07:01 heading: 50.9000, pitch: -40.9300, roll: 42.5150, x_acc: 1.00275, y_acc: -0.106250, z_acc: 0.170000
    14:07:01 heading: -12.6700, pitch: -35.6050, roll: 34.8700, x_acc: 1.00200, y_acc: -0.0980000, z_acc: 0.140000
    14:07:01 heading: 23.3050, pitch: -44.3700, roll: 43.0850, x_acc: 1.00575, y_acc: -0.0995000, z_acc: 0.159250
    14:07:01 heading: -57.9650, pitch: -75.1250, roll: 71.3350, x_acc: 0.998500, y_acc: -0.100250, z_acc: 0.169500
    14:07:01 heading: 53.4250, pitch: 2.76500, roll: -0.650000, x_acc: 1.00850, y_acc: -0.0962500, z_acc: 0.154500
    14:07:01 heading: -49.7550, pitch: -77.7400, roll: 76.0050, x_acc: 1.00450, y_acc: -0.0997500, z_acc: 0.154500
    14:07:02 heading: -33.9250, pitch: -83.6550, roll: 82.6800, x_acc: 1.00200, y_acc: -0.103500, z_acc: 0.175000
    14:07:02 heading: -68.1800, pitch: -80.4700, roll: 78.0900, x_acc: 1.01025, y_acc: -0.0915000, z_acc: 0.163000
    14:07:02 heading: 5.00000, pitch: -38.5950, roll: 39.6350, x_acc: 0.997500, y_acc: -0.109000, z_acc: 0.165250
    14:07:02 heading: 30.6100, pitch: 3.30000, roll: -3.09500, x_acc: 0.995500, y_acc: -0.105500, z_acc: 0.182750
    14:07:02 heading: -41.6350, pitch: -70.8050, roll: 70.7150, x_acc: 0.997250, y_acc: -0.108500, z_acc: 0.157250
    14:07:02 heading: 48.2850, pitch: -20.5450, roll: 18.8500, x_acc: 0.992500, y_acc: -0.115750, z_acc: 0.168250
    14:07:02 heading: 37.7900, pitch: -24.5600, roll: 23.8250, x_acc: 0.993000, y_acc: -0.102250, z_acc: 0.174500
    14:07:03 heading: 48.6250, pitch: -5.78500, roll: 8.39000, x_acc: 0.996250, y_acc: -0.104250, z_acc: 0.171250
    14:07:03 heading: -14.9850, pitch: -52.3150, roll: 51.1200, x_acc: 0.994000, y_acc: -0.106250, z_acc: 0.171000
    14:07:03 heading: -50.2050, pitch: -78.9500, roll: 74.4650, x_acc: 0.997750, y_acc: -0.106500, z_acc: 0.179500
    14:07:03 heading: 48.8250, pitch: 8.10000, roll: -4.96500, x_acc: 0.986250, y_acc: -0.113750, z_acc: 0.176500
    14:07:03 heading: -50.3000, pitch: -74.5850, roll: 73.0050, x_acc: 1.00625, y_acc: -0.0995000, z_acc: 0.170250
    14:07:03 heading: -47.2000, pitch: -72.0650, roll: 68.3000, x_acc: 1.00150, y_acc: -0.0960000, z_acc: 0.161250
    14:07:04 heading: 20.3350, pitch: -30.4600, roll: 28.4000, x_acc: 0.991000, y_acc: -0.0977500, z_acc: 0.177000
    14:07:04 heading: 41.8150, pitch: -6.41500, roll: 10.5500, x_acc: 0.996000, y_acc: -0.109500, z_acc: 0.166500
    14:07:04 heading: 15.3350, pitch: -5.14500, roll: 7.12500, x_acc: 0.992750, y_acc: -0.103500, z_acc: 0.152500
    14:07:04 heading: -51.7050, pitch: -75.5900, roll: 72.3350, x_acc: 0.987750, y_acc: -0.0962500, z_acc: 0.201500
    14:07:04 heading: -42.3400, pitch: -72.1300, roll: 75.9200, x_acc: 1.00000, y_acc: -0.110250, z_acc: 0.174000
    14:07:04 heading: -37.4000, pitch: -69.4450, roll: 64.8050, x_acc: 0.992250, y_acc: -0.107000, z_acc: 0.179500
    14:07:04 heading: 2.10500, pitch: -22.7600, roll: 24.4800, x_acc: 0.979750, y_acc: -0.0980000, z_acc: 0.182750
    14:07:05 heading: 54.3550, pitch: 6.43000, roll: -1.93500, x_acc: 0.997500, y_acc: -0.112750, z_acc: 0.177500
    14:07:05 heading: -71.3900, pitch: -79.7950, roll: 74.7000, x_acc: 0.989000, y_acc: -0.112750, z_acc: 0.158750
    14:07:05 heading: 28.6700, pitch: 2.70000, roll: -0.940000, x_acc: 0.991000, y_acc: -0.108000, z_acc: 0.195250
    14:07:05 heading: 6.55500, pitch: -22.8950, roll: 22.5200, x_acc: 1.00250, y_acc: -0.0997500, z_acc: 0.186000
    14:07:05 heading: 36.7950, pitch: -13.2500, roll: 14.9450, x_acc: 1.01800, y_acc: -0.115500, z_acc: 0.151500
    14:07:05 heading: -45.2500, pitch: -75.7650, roll: 71.1200, x_acc: 0.996750, y_acc: -0.107000, z_acc: 0.170500
    14:07:05 heading: -43.4750, pitch: -69.5150, roll: 69.2350, x_acc: 1.00475, y_acc: -0.0940000, z_acc: 0.169000
    14:07:06 heading: 58.0600, pitch: -2.61000, roll: 1.00000, x_acc: 1.00250, y_acc: -0.104000, z_acc: 0.188250
    14:07:06 heading: -6.31500, pitch: -55.2900, roll: 52.6300, x_acc: 0.989750, y_acc: -0.109500, z_acc: 0.170500
    

  • 你好。采集的数据在这里。内容注明:heading表示的是x_gyro,pitch表示的是y_gyro,roll表示的是z_gyro。谢谢!