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- Header header
- uint64 frame_unmber
- int8 fusion_level
- int8 status #4:固定解，5：浮点解，2：伪距差分，1：单点解
- #rotation
- float64 roll # x,R, car body (FLU)
- float64 pitch # y,R, car body (FLU)
- float64 yaw # z,R, car body (FLU) utm (0,360) 0--east, 90--north
- float32 roll_std
- float32 pitch_std
- float32 yaw_std
- float64 qw # w
- float64 qx # x
- float64 qy # y
- float64 qz # z
- float64 angular_velocity_x
- float64 angular_velocity_y
- float64 angular_velocity_z
- #position
- float64 latitude
- float64 longitude
- float64 altitude
- float32 latitude_std
- float32 longitude_std
- float32 altitude_std
- float64 position_x # utm_east
- float64 position_y # utm_north
- float64 position_z # utm_up
- float32 position_x_std
- float32 position_y_std
- float32 position_z_std
- float64 velocity_x # utm_east_speed
- float64 velocity_y # utm_north_speed
- float64 velocity_z # utm_up_speed
- float32 velocity_x_std
- float32 velocity_y_std
- float32 velocity_z_std
- float64 velocity_rx # ins_x_speed
- float64 velocity_ry # ins_y_speed
- float64 velocity_rz # ins_z_speed
- float32 velocity_rx_std
- float32 velocity_ry_std
- float32 velocity_rz_std
- float64 accel_x # R, car body (RFU)
- float64 accel_y # F, car body (RFU)
- float64 accel_z # U, car body (RFU)
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