receive upd packet from android and show visualization

Hello i have spent many hours looking how to do this basically here is what im trying to do.

have unity recieve udp packets from an android app (imu+gps-stream) and visualize it in 3d (yaw, pitch and roll). the app sends accelerometer and other sensor data via udp and im unsure on how to capture it and visualize it. ive looked on the forums and on the answers section and cant find anything, any info/help would be most appreciated.

thanks