如果需要自己生成数据的话，需要执行以下步骤：
- 安装vscode或pycharm或jupyter notebook等IDE
- 参考教程安装conda
- 安装jupyter notebook等依赖
pip install -r requirements.txt运行imu_data_generator.ipynb或src/imu_data_generator.python，生成数据集至datasets\datasets\imu_data.csv。
数据生成的详细过程查看docs\imu_data_generator.html。
从datasets\datasets\imu_data.csv中读取数据，查看数据的基本信息。
time (sec),ref_accel_x (m/s^2),ref_accel_y (m/s^2),ref_accel_z (m/s^2),accel_x (m/s^2),accel_y (m/s^2),accel_z (m/s^2),ref_gyro_x (rad/s),ref_gyro_y (rad/s),ref_gyro_z (rad/s),gyro_x (rad/s),gyro_y (rad/s),gyro_z (rad/s),mag_x (uT),mag_y (uT),mag_z (uT),ref_pos_x (m),ref_pos_y (m),ref_pos_z (m),ref_vel_x (m/s),ref_vel_y (m/s),ref_vel_z (m/s),ref_Yaw (deg),ref_Pitch (deg),ref_Roll (deg),q0 (),q1,q2,q3
0.0,0.0,0.0,-9.7803253359,0.010364225120174472,0.01037448366234665,-9.770276249736261,0.0,0.0,0.0,0.00017934884686621075,0.00014004326387091276,0.00038452735354582143,-1.3849152043751866e-06,1.6960319721285748e-22,1.344540903691502e-07,0.0,0.0,0.0,0.0,0.1,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0
0.01,0.0,0.0,-9.7803253359,0.010010464488781127,0.0098271476284648,-9.770806064817219,0.0,0.0,0.0,-0.00016041877905831578,0.00018584249866784294,8.461553829287017e-05,-1.413419912029615e-06,1.7309401711182015e-22,1.509760093878691e-07,0.0,0.001,0.0,0.0,0.1,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0
0.02,0.0,0.0,-9.7803253359,0.010238426283288207,0.009679908413854191,-9.769836364543053,0.0,0.0,0.0,0.00014348755409426041,-0.00011913963262291678,-0.00033063208567398866,-1.4424599708091572e-06,1.766503986149619e-22,1.6826958763664192e-07,0.0,0.002,0.0,0.0,0.1,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0