Say I am given a point in an x1,y1,z1 coordinate system. I have a different coordinate system, x2,y2,z2 that has the same origin as the x1,y1,z1 system, but the axis are not aligned. I have roll, pitch, and yaw sensors fitted on the x2,y2,z2 coordinate system.
This picture may help:
How do I go about transforming the point in x1,y1,z1 coordinates to x2,y2,z2 coordinates? My original thought was that I simply just rotate by "head" degrees about y1 by the heading first, then rotate by "roll" degrees about z, then rotate by "pitch" degrees about x. This seems too easy and direct. Is this the correct approach?