KITTI 数据集oxts 文件解析

lat:   latitude of the oxts-unit (deg)  #维度
lon:   longitude of the oxts-unit (deg) # 经度
alt:   altitude of the oxts-unit (m) # 高度
roll:  roll angle (rad),    0 = level, positive = left side up,      range: -pi   .. +pi  # 倾斜角，左倾为正，
pitch: pitch angle (rad),   0 = level, positive = front down,        range: -pi/2 .. +pi/2 # 俯仰角，正面朝下为正
yaw:   heading (rad),       0 = east,  positive = counter clockwise, range: -pi   .. +pi # 航向，逆时针为正
vn:    velocity towards north (m/s) # 速度，北方移动速度，北方方向
ve:    velocity towards east (m/s) # 速度，东方移动速度，东方方向
vf:    forward velocity, i.e. parallel to earth-surface (m/s) #前向速度，x轴方向
vl:    leftward velocity, i.e. parallel to earth-surface (m/s) #左向速度，y轴方向
vu:    upward velocity, i.e. perpendicular to earth-surface (m/s) #上向速度，z轴方向
ax:    acceleration in x, i.e. in direction of vehicle front (m/s^2) #加速度，x轴方向
ay:    acceleration in y, i.e. in direction of vehicle left (m/s^2) # 加速度，y轴方向
ay:    acceleration in z, i.e. in direction of vehicle top (m/s^2) # 加速度，z轴方向
af:    forward acceleration (m/s^2)  #加速度，前向方向
al:    leftward acceleration (m/s^2) #加速度，左向方向
au:    upward acceleration (m/s^2) #加速度，上向方向
wx:    angular rate around x (rad/s) # x轴方向角速率
wy:    angular rate around y (rad/s) # y轴方向角速率
wz:    angular rate around z (rad/s) # z轴方向角速率
wf:    angular rate around forward axis (rad/s) # 前向轴角速率
wl:    angular rate around leftward axis (rad/s) # 左向轴角速率
wu:    angular rate around upward axis (rad/s) # 上向轴角速率
pos_accuracy:  velocity accuracy (north/east in m) # 位置精度 ，单位m,
vel_accuracy:  velocity accuracy (north/east in m/s)  # 速度精度 ，单位m,
navstat:       navigation status (see navstat_to_string) # 导航状态
numsats:       number of satellites tracked by primary GPS receiver # 主GPS接收机跟踪的卫星数量
posmode:       position mode of primary GPS receiver (see gps_mode_to_string) # 主GPS接收机的位置模式
velmode:       velocity mode of primary GPS receiver (see gps_mode_to_string) # 主GPS接收机的速度模式
orimode:       orientation mode of primary GPS receiver (see gps_mode_to_string)  # 主GPS接收机的定向模式