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