Coordinate Frames
ECI Frame
Earth-centered inertial (ECI) coordinate frame, denoted as \(F_i\). Refer to Wiki.
ECEF Frame
Earth-centered Earth-fixed (ECEF) coordinate frame, denoted as \(F_e\). Refer to Wiki.
Local Navigation Frame
Local navigation frame denoted as \(F_n\). Refer to Wiki
Local Tangent-Plane Frame
Local tangent-plane frame denoted as \(F_l\) that has North-East-Down axes and a fixed origin. Refer to Wiki.
Body Frame
Body frame, \(F_b\), comprises the origin and orientation of the object described by the navigation solution. Its origin coincides with local navigation frame and the axes remain fixed with respect to the vehicle. \(x^b\) is the forward axis, pointing in the usual direction of travel; \(z^b\) is the down axis, pointing in the usual direction of gravity; and \(y^b\) is the right axis, completing the orthogonal set. Body frame is shown in Figure 1.
