序号 数据定义 数据类型 备注 1 帧序号 unsigned int 每一帧数据+1，单独计数 2 系统状态 unsigned char 分别为 0 1 2 3 4 5 10，见表2 3 寻北进度 unsigned char 1~100 4 航向角 float 0~360° 5 俯仰角 float -90°~90° 6 横滚角 float -180°~180° 7 实时更新数据 float 帧序号进行除以10取余计算，见表3 数据举例： 1,10,0,10.56,0.1234,0.23456,75.0 回执：APP端在接到一帧数据后，需要发送回执消息：80 80 01 00 03 63 30，下位机如果连续10次未收到回执则认为蓝牙断开。 根据协议写一个类用androidstudio

下面是一个基于 Android Studio 的实现示例：

import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import android.support.v7.app.AppCompatActivity;
import android.util.Log;
import android.widget.TextView;

import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.UUID;

public class MainActivity extends AppCompatActivity {
    private static final String TAG = "MainActivity";

    private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB"); // 蓝牙串口通信协议UUID
    private static final String DEVICE_ADDRESS = "00:11:22:33:44:55"; // 蓝牙模块的MAC地址

    private Handler mHandler;
    private BluetoothSocket mSocket;
    private InputStream mInputStream;
    private OutputStream mOutputStream;

    private TextView mFrameNumberView;
    private TextView mSystemStateView;
    private TextView mHeadingAngleView;
    private TextView mPitchAngleView;
    private TextView mRollAngleView;
    private TextView mRealtimeDataView;

    private int mFrameNumber;
    private int mSystemState;
    private int mCompassProgress;
    private float mHeadingAngle;
    private float mPitchAngle;
    private float mRollAngle;
    private float mRealtimeData;

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        // 初始化UI控件
        mFrameNumberView = findViewById(R.id.frame_number);
        mSystemStateView = findViewById(R.id.system_state);
        mHeadingAngleView = findViewById(R.id.heading_angle);
        mPitchAngleView = findViewById(R.id.pitch_angle);
        mRollAngleView = findViewById(R.id.roll_angle);
        mRealtimeDataView = findViewById(R.id.realtime_data);

        // 初始化蓝牙连接
        connectBluetooth();

        // 初始化Handler
        mHandler = new Handler() {
            @Override
            public void handleMessage(Message msg) {
                switch (msg.what) {
                    case 1:
                        // 更新UI
                        updateUI();
                        break;
                }
            }
        };
    }

    private void connectBluetooth() {
        BluetoothAdapter adapter = BluetoothAdapter.getDefaultAdapter();
        BluetoothDevice device = adapter.getRemoteDevice(DEVICE_ADDRESS);

        try {
            mSocket = device.createRfcommSocketToServiceRecord(MY_UUID);
            mSocket.connect();
            mInputStream = mSocket.getInputStream();
            mOutputStream = mSocket.getOutputStream();
        } catch (IOException e) {
            Log.e(TAG, "Failed to connect to device", e);
        }

        new Thread(new Runnable() {
            @Override
            public void run() {
                while (true) {
                    try {
                        // 读取数据
                        byte[] buffer = new byte[1024];
                        int len = mInputStream.read(buffer);

                        // 解析数据
                        String data = new String(buffer, 0, len);
                        String[] items = data.split(",");
                        if (items.length == 7) {
                            mFrameNumber = Integer.parseInt(items[0]);
                            mSystemState = Integer.parseInt(items[1]);
                            mCompassProgress = Integer.parseInt(items[2]);
                            mHeadingAngle = Float.parseFloat(items[3]);
                            mPitchAngle = Float.parseFloat(items[4]);
                            mRollAngle = Float.parseFloat(items[5]);
                            mRealtimeData = Float.parseFloat(items[6]);

                            // 发送消息更新UI
                            mHandler.sendEmptyMessage(1);
                        }
                    } catch (IOException e) {
                        Log.e(TAG, "Failed to read data", e);
                        break;
                    }
                }
            }
        }).start();
    }

    private void updateUI() {
        mFrameNumberView.setText(String.valueOf(mFrameNumber));
        mSystemStateView.setText(String.valueOf(mSystemState));
        mHeadingAngleView.setText(String.format("%.2f", mHeadingAngle));
        mPitchAngleView.setText(String.format("%.2f", mPitchAngle));
        mRollAngleView.setText(String.format("%.2f", mRollAngle));
        mRealtimeDataView.setText(String.format("%.2f", mRealtimeData));
    }

    @Override
    protected void onDestroy() {
        super.onDestroy();

        // 关闭蓝牙连接
        try {
            mSocket.close();
        } catch (IOException e) {
            Log.e(TAG, "Failed to close socket", e);
        }
    }
}

注意，这只是一个示例代码，实际情况下你需要根据你的具体需求进行修改。