Insta360 One X2, how to match video frame and gyro data？

[xiaodidia]

Hello fellows, i am working on a project of 3d reconstruction with panorama images. Images are extracted from 5.7k videos recorded with an insta360 one x2.
I've already extracted metadata from raw "insv" video files and the data seems fine.
I want to sync gyroscope data to image frames.

My problem is how exactly the "Exposure data" matches "image frame". Since I don't see any obvious evidence that says the first image frame matches the first "Exposure data".

some info of video:
total frames: 2828
duration: 94s
status: stitched as panorama by Insta360 SDK

P.S. i attach the metadata below. I zipped the file for the size(>10MB), sorry for the inconvenience.

[Phil Harvey]

ExifTool provides the TimeCode's corresponding to each timed metadata sample.  I don't know about the video frames, but I would imagine that they could also have an associated TimeCode, however ExifTool doesn't deal with video data.

- Phil