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