Pitch、Yaw、Roll的概念

Pitch 倾斜

Rotation around the right axis (around Y axis), Looking up and down (0=Straight Ahead, +Up, -Down)

Roll 滚动，转动

Rotation around the forward axis (around X axis), Tilting your head, 0=Straight, +Clockwise, -CCW.

Yaw 偏航

Rotation around the up axis (around Z axis), Running in circles 0=East, +North, -South.

Pitch、Roll、Yaw对应笛卡尔坐标系的Y、X、Z