roll, pitch, yaw=get_attitude() # 计算车辆在大地坐标系中的表示 x=longitude y=latitude z=0 roll_matrix=[[1,0,0], [0, math.cos(roll),-math.sin(roll)], [0, math.sin(roll), math.cos(roll)]] pitch_matrix=[[math.cos(pitch),0, math.sin(pitch)], [0,1,0], [-math.sin(pit...