Difference between "/mavros/vicon/position" and "/mavros/position/local"? Which one is the ground truth?

[HiOnes]

Thanks for your great work.
I have downloaded your dataset path_vicon.bag. And while using rqt_bag to check the dataset, I found that the position provided by the topic /mavros/vicon/position(right-side) doesn't match the anchor position and its pair-wise range provided by the topic /time_domain/full_range_info. And the position in the topic /mavros/position/local(left-side) matches better but the trajectories seem noisy.
I wonder what is the difference between the topic /mavros/vicon/positionand /mavros/position/local? Is there a static transformation between these two frames?