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## <a name="Coordinate System Conventions"></a> Coordinate System Conventions

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**Body Reference Frame and Units &amp; Naming Conventions**

See the attached document: [[body_reference_frame.pdf]]

The only modification to this document (so far) is that we've switched the names of the attitude variables:

- Phi = Alpha (pitch; around X)
- Psi = Beta (yaw; around Y)
- Theta = Gamma (roll; around Z)

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**Ground Reference Frame**

Since we're doing only relatively low altitude sounding rocket flights, we like to define our local coordinate system like the local tengent plane. However, we like to use the more intuitive &lt;East, North, Up&gt; coordinate system.

For more information, including transforming from ECEF-g (Earth Centered Earth Fixed Geodetic) to &lt;E,N,U&gt; please see the attached document: [[Latitude_to_LocalTangent.pdf]]

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-- [[AndrewGreenberg]] - 08 Sep 2001 <br />