gps数据中的velocity 是NED 坐标系的，而imu数据Body frame的，为何他们可以共用一个TransformCoordinate转换函数呢？

[likegogogo]

GPS数据： True GPS position/velocity, ['rad', 'rad', 'm', 'm/s', 'm/s', 'm/s'] for NED (LLA)

imu数据： 'ref_gyro' True angular velocity in the body frame, units: ['rad/s', 'rad/s', 'rad/s'] 'ref_accel' True acceleration in the body frame, units: ['m/s^2', 'm/s^2', 'm/s^2'] The body coordinate system is fixed at the device. Its origin is located at the center of device. Its x axis points forward, lying in the symmetric plane of the device. Its y axis points to the right side of the device. Its z axis points downward to complete the right-hand coordinate system.

目标看起来是要都转换到ENU坐标系下。 但gps数据中的velocity 是NED 坐标系的，而imu数据Body frame的，为何他们可以共用一个TransformCoordinate转换函数呢？

[shockjiang]

@ideafold 请问关于坐标系的问题梳理清楚了吗？我遇到了类似的困惑。

[zm0612]

@shockjiang @ideafold hello，目前对代码进行了整理，坐标系统一到了NED。