python编程实现IMR 格式惯导数据的读取与解析详细代码附注释加运行

好的，以下是 Python 实现 IMR 格式惯导数据的读取与解析的详细代码：

import struct

# 定义 IMRData 类
class IMRData:
    def __init__(self, header, version, length, seq_num, time_stamp, checksum, gyro_x, gyro_y, gyro_z, accel_x, accel_y, accel_z, mag_x, mag_y, mag_z, status):
        self.header = header
        self.version = version
        self.length = length
        self.seq_num = seq_num
        self.time_stamp = time_stamp
        self.checksum = checksum
        self.gyro_x = gyro_x
        self.gyro_y = gyro_y
        self.gyro_z = gyro_z
        self.accel_x = accel_x
        self.accel_y = accel_y
        self.accel_z = accel_z
        self.mag_x = mag_x
        self.mag_y = mag_y
        self.mag_z = mag_z
        self.status = status

# 打开数据文件
with open('data.bin', 'rb') as fp:
    # 读取数据头
    header = fp.read(2)
    if header != b'\x55\xAA':
        print('文件头错误！')
        exit(1)

    # 读取版本号
    version = int.from_bytes(fp.read(1), byteorder='little')
    if version != 0x01:
        print('版本号错误！')
        exit(1)

    # 读取数据长度
    length = int.from_bytes(fp.read(2), byteorder='little')

    # 读取序列号和时间戳
    seq_num, time_stamp = struct.unpack('<II', fp.read(8))

    # 读取校验和
    checksum = int.from_bytes(fp.read(2), byteorder='little')

    # 读取陀螺仪、加速度计、磁力计数据
    gyro_x, gyro_y, gyro_z, accel_x, accel_y, accel_z, mag_x, mag_y, mag_z = struct.unpack('<9f', fp.read(36))

    # 读取状态字
    status = int.from_bytes(fp.read(1), byteorder='little')

    # 构造 IMRData 对象