...
Intrinsic rotations are elemental rotations that occur about the axes of a coordinate system attached to a moving body. In contrast, extrinsic rotations are elemental rotations that occur about the axes of the fixed coordinate system. The rotations in geolocation are intrinsic. There are 6 different intrinsic rotations that can be performed (since there are 6 permutations to rotate an object around the x, y, and z axis). The order matters because as mentioned above, matrices are not commutative. The intrinsic rotation that is performed in the geolocation module is z-y-x or 3-2-1. If we have X as the rotation matrix for roll, Y as the rotation matrix for pitch,and Z for the rotation matrix for yaw, the overall transformation matrix T would be T = ZXYZYX. The diagram below showcases the intrinsic rotation for z-y-x. For more information you can check out the link here: https://www.wikiwand.com/en/Euler_angles#Tait%E2%80%93Bryan_angles .
...