subStrL = str.Substring((76 - 8), 2);
subStrH = str.Substring((78 - 8), 2);
Data[7] = (short)(Convert.ToInt16(subStrH, 16) * 256 + Convert.ToInt16(subStrL, 16));//角度X
subStrL = str.Substring((80 - 8), 2);
subStrH = str.Substring((82 - 8), 2);
Data[8] = (short)(Convert.ToInt16(subStrH, 16) * 256 + Convert.ToInt16(subStrL, 16));//角度Y
subStrL = str.Substring((84 - 8), 2);
subStrH = str.Substring((86 - 8), 2);
Data[9] = (short)(Convert.ToInt16(subStrH, 16) * 256 + Convert.ToInt16(subStrL, 16));//角度Z
roll = (float)(Data[7] / 32768.0 * 180);
pitch = (float)(Data[8] / 32768.0 * 180);
yaw = (float)(Data[9] / 32768.0 * 180);