JSC -09084

NASA TECHNICAL MEMORANDUM NASA TM X-58153

October 1974

COORDINATE SYSTEMS FOR THE

SPACE SHUTTLE PROGRAM

(NASA-TM-X-5e153) C O O R D I N A T Z SYSTEMS F O R N74-34291 1

T H E SPACE SBUTTLE FFOtiEikM (NASA) 54 F

flc 5 3 - 7 5 CSCL 22A
‘Jnclas
G3/3C 5C344

NATIONAL AERONAUTICS AND SPACE ADMINISTRATION

LYNDON B. JOHNSON SPACE CENTER

HOUSTON, TEXAS 77058

 I
1. Report No. 2. Government Accession No. 3. Recipient's Catalog No.

TM X-58153
4. Title and Subtitle 5 Report Date
October 1974
COORMATE SYSTEMS FOR THE SPACE SHUTTLE PROGRAM 6. Performing Organization Code

7. Author(s) 8. Performing Organization Report No.

Larry D. Davis JSC -09084

10. Work Unit No.
9. Performing Organization Name and Address 986-16-20-00-72
Lyndon B. Johnson Space Center 11. Contract or Grant No.
Houston, Texas 77058
13. Type of Report and Period Cbvered
2. Sponsoring Agency Name and Address Technical Memorandum
National Aeronautics and Space Administration 14. Sponsoring A w y Code
Washington, D. C. 20546
I

5. Supplementary Notes

6. Abstract
This document comprises a minimal s e t of well-defined coordinate systems necessary f o r the
interchange of data within the Space Shuttle Program. The basic document format consists
of four parts: (a) a list of the subscripts identifying the coordinate systems, (b) a glossary
explaining the t e r m s used within the coordinate-system definitions, (c) figures defining, both
graphically and verbally, each coordinate system, and (d) a n appendix (published separately)
showing the relationships (transformations) between similar coordinate systems.

7. Key Words (Suggested by AuthorWl 18. Distribution Statement

* Coordinates
' Rotation
' Cartesian Coordinates STAR Subject Category: 30, Space Sciences
Symmetry
' Space Shuttles
22. Price'
-
19. Security Classif. (of this report) 20. Security Classif. (of this page) 21. No. of Pages

Unclassified Unclassified 52

JSC Form 1424 ( R a v J u l 7 4 )

 NASA TM X-58153

COORDINATE SYSTEMS FOR

THE SPACE SHUTTLE PROGRAM

By Larry D. Davis
Lyndon B. Johnson Space Center

J
Section Page

INTRODUCTION ............................. 1

STANDARD S U B S C R I P T S . . . . . . . . . . . . . . . . . . . . . . . . . 2

GLOSSARY OF TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . 4

iii
 FIGURES

Figure Page
,
,
1 Aries m e a n of 1950, C a r t e s i a n ................ 6

2 Aries mean of 1950, p o l a r . . . . . . . . . . . . . . . . . . 7

- A r i e s t r u e of d a t e , C a r t e s i a n . . . . . . . . . . . . . . . . 8

4 Aries t r u e of d a t e , p o l a r . . . . . . . . . . . . . . . . . . 9

5 Greenwich t r u e of d a t e ( g e o g r a p h i c ) . . . . . . . . . . . . . 11

6 Geodetic

...................
( a ) Basic d e f i n i t i o n s 12
( b ) Detailed explanation .................. 13

7 O r b i t a l elements . . . . . . . . . . . . . . . . . . . . . . 14
I
8 Plumbline . . . . . . . . . . . . . . . . . . . . . . . . . . 15

9 u,v,w . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

I 10 Local o r b i t a l ........................ 17

11 Landing f i e l d ........................ 18
I
I 12 Body axes

( a ) Basic d e f i n i t i o n .................... 19
(b) R e s o l u t i o n of r e l a t i v e wind i n t o components along
v e h i c l e body axes .................. 21

13 S t a b i l i t y axes . . . . . . . . . . . . . . . . . . . . . . . 22

14 Wind axes . . . . . . . . . . . . . . . . . . . . . . . . . . 23

15 T r a j e c t o r y axes . . . . . . . . . . . . . . . . . . . . . . . 24

16 Topocentric . . . . . . . . . . . . . . . . . . . . . . . . . 25

17 Topodetic . . . . . . . . . . . . . . . . . . . . . . . . . . 26

18 Look a n g l e . . . . . . . . . . . . . . . . . . . . . . . . . 27

19 Navigation base . . . . . . . . . . . . . . . . . . . . . . . 29
if 20 I n e r t i a l m e a s u r e m e n t u n i t s t a b l e member . . . . . . . . . . . 30

iv
Figure Page

21 O p t i c a l base ......................... 32

22 Star tracker optics . . . . . . . . . . . . . . . . . . . . . 33

23 O r b i t e r s t r u c t u r a l body . . . . . . . . . . . . . . . . . . . 34

24 S o l i d r o c k e t b o o s t e r s t r u c t u r a l body . . . . . . . . . . . . . 35

25 E x t e r n a l t a n k o r i n t e g r a t e d v e h i c l e s t r u c t u r a l body . . . . . 36

26 Radar azimuth-elevation mount . . . . . . . . . . . . . . . . 38

27 T a c t i c a l a i r navigation . . . . . . . . . . . . . . . . . . . 39

28 Radar X-Y mount. 30-foot dish ................ 40

29 Radar X-Y mount. 85-foot dish . . . . . . . . . . . . . . . . 41

30 Payload r e f e r e n c e . . . . . . . . . . . . . . . . . . . . . . 42

31 P i l o t (body f i x e d ) . Cartesian . . . . . . . . . . . . . . . . 43

32 Space s h u t t l e main engine s t r u c t u r a l body

....................
( a ) Basic d e f i n i t i o n 44
(b) Systems shown uncanted f o r c l a r i t y ( v i e w l o o k i n g
forward) ....................... 46

v
 COORDINATE SYSTEMS FOR THE SPACE SHUTTLE PROGRAM

By Larry D. Davis
Lyndon B. Johnson Space Center

INTRODUCTION

I n 1965, a s t a n d a r d set o f coordinate systems w a s e s t a b l i s h e d t o f a c i l i t a t e

t h e exchange o f d a t a among p a r t i c i p a n t s of t h e Apollo Program. S i m i l a r l y , t h i s
document e s t a b l i s h e s a s t a n d a r d s e t o f c o o r d i n a t e systems f o r t h e Space S h u t t l e
Program. This document provides a minimum s e t o f well-defined c o o r d i n a t e systems
t h a t a r e r e q u i r e d f o r t h e p r a c t i c a l exchange o f data among p a r t i c i p a n t s o f t h e
S h u t t l e Program.

T h i s document w a s compiled by Larry Davis, Mission Planning and A n a l y s i s

D i v i s i o n , NASA Lyndon B. Johnson Space Center; however, several i n d i v i d u a l s i n
t h i s d i v i s i o n and one i n d i v i d u a l i n t h e P r o p u l s i o n and Power Division were a l s o
r e s p o n s i b l e f o r d e f i n i n g c o o r d i n a t e systems i n c l u d e d i n t h i s document. The
i n d i v i d u a l s c o n t r i b u t i n g t o t h i s document and t h e i r a r e a s o f r e s p o n s i b i l i t y a r e
as f o l l o w s .

M. D. J e n n e s s Local o r b i t a l
D. S. Scheffhan Body axes
Look a n g l e

0. H i l l Topocentric
Topodet i c
Body axes
S t a b i l i t y axes
Wind axes
T r a j e c t o r y axes

G. L. Carman Landing f i e l d

S. A. Kamen Plumb 1i n e
R. L. McHenry u, v, w
A. D. Long

E. W. Henry A r i e s mean o f 1950, C a r t e s i a n

J. B. Williamson A r i e s mean o f 1950, p o l a r
Aries t r u e of d a t e , Cartesian
 Aries t r u e of d a t e , p o l a r
Greenwich t r u e o f d a t e (geographic)
Geodetic
O r b i t a l element
I n e r t i a l measurement u n i t (IMU) s t a b l e
member
Radar azimuth-elevation mount
T a c t i c a l a i r n a v i g a t i o n (TACAN)
Radar X-Y mount, 30-foot d i s h
Radar X-Y mount, 85-foot d i s h

J. R. Thibodeau I11 I n e r t i a l measurement u n i t (IMU) s t a b l e

member

T. J. Blucker Navigation base

O p t i c a l bas e
Star t r a c k e r o p t i c s

T. B. Murtagh P i l o t (body f i x e d ) , C a r t e s i a n

H. C. S u l l i v a n Software development review

W. L. Brasher Space s h u t t l e main engine (SSME) s t r u c t u r a l

body

L. D. Davis O r b i t e r s t r u c t u r a l body
S o l i d r o c k e t b o o s t e r (SRB) s t r u c t u r a l
body
E x t e r n a l t a n k (ET) or i n t e g r a t e d v e h i c l e
st ruc t u r d body
Payload r e f e r e n c e

M. E . Bonneau Do cw e n t artwork

STANDARD SUBSCRIPTS

The standard s u b s c r i p t s used t o i d e n t i f ' y t h e c o o r d i n a t e systems a r e as

follows.

Subs c r ipt Coordinate System

M Aries mean o f 1950, C a r t e s i a n ( f i g . 1)

M Aries mean of 1950, p o l a r ( f i g . 2 )

TR Aries t r u e of d a t e , C a r t e s i a n ( f i g . 3 )

TR Aries t r u e o f d a t e , p o l a r ( f i g . 4 )

2
 Subscript Coordinate System

G Greenwich t r u e of d a t e (geographic) ( f i g . 5 )

None Required Geodetic ( f i g . 6 )

None Required O r b i t a l element ( f i g . 7 )

FJL Plumbline ( f i g . 8)

None Required u, v, w (fig. 9)

LO Local o r b i t a l ( f i g . 10)

LF Landing f i e l d ( f i g . 11)

BY Body axes ( f i g . 1 2 )

SB S t a b i l i t y axes ( f i g . 13)

W Wind axes ( f i g . 14)

TJ T r a j e c t o r y axes ( f i g . 15)

TC Topocentric ( f i g . 1 6 )

TD Topodetic ( f i g . 17)
BY Look angle ( f i g . 18)

NB Navigation base ( f i g . 19)

I I n e r t i a l measurement u n i t ( I N ) s t a b l e member ( f i g . 2 0 )

OB C p t i c a l base ( f i g . 21)

None Required S t a r t r a c k e r o p t i c s ( f i g . 22)

0 O r b i t e r s t r u c t u r a l body ( f i g . 23)

B S o l i d r o c k e t b o o s t e r (SRB) s t r u c t u r a l body ( f i g . 24)

T E x t e r n a l t a n k ( E T ) or i n t e g r a t e d v e h i c l e s t r u c t u r a l body
( f i g . 25)

None Required Radar azimuth-elevation mount ( f i g . 26)

None Required T a c t i c a l a i r navigation (TACAN) ( f i g . 27)

F Radar X-Y mount, 30-foOt d i s h ( f i g . 28)

3
 Subscript c o o r d i n a t e System

5 Radar X-Y mount, 85-foot d i s h ( f i g . 29)

PD Payload r e f e r e n c e ( f i g . 30)

PB P i l o t (body f i x e d ) , C a r t e s i a n ( f i g . 31)

ME Space s h u t t l e main engine (SSME) s t r u c t u r a l body ( f i g . 3 2 )

I GLOSSARY OF TERMS

The terms used w i t h i n t h e coordinate-system d e f i n i t i o n s are d e f i n e d as

follows .
' I n e r t i a l c o o r d i n a t e system: A system whose c o o r d i n a t e axes are f i x e d , r e l a t i v e
t o t h e s t a r s , a t i n f i n i t e d i s t a n c e s . That i s , t h e r o t a t i o n r a t e s about a l l
I axes, r e l a t i v e t o t h e s t a r s , a r e zero.

Q u a s i - i n e r t i a l system: A system t h a t r o t a t e s w i t h t i m e from an i n e r t i a l system

l
and whose i n s t a n t a n e o u s rates o f r o t a t i o n and t r a n s l a t i o n a l v e l o c i t y between
r e s p e c t i v e o r i g i n s a r e , by d e f i n i t i o n , e q u a l t o zero. Thus, a v e l o c i t y -
v e c t o r t r a n s f o r m a t i o n between q u a s i - i n e r t i a l systems does n o t i n c l u d e t h e
r o t a t i o n rates of axes; hence, v e l o c i t y magnitudes are i n v a r i a n t under such
a transformation.

Nonrotating systems: An i n e r t i a l o r q u a s i - i n e r t i a l system. That i s , any system

whose rates o f r o t a t i o n about a l l a x e s , r e l a t i v e t o any i n e r t i a l system,
are zero.

R o t a t i n g systems: A r e f e r e n c e frame t h a t v a r i e s w i t h time from an i n e r t i a l systec.

and whose rates o f r o t a t i o n about axes are i n c l u d e d i n t r a n s f o r m a t i o n s o f
v e l o c i t y v e c t o r s t o derive r e l a t l v e v e l o c i t y .

C a r t e s i a n system: A system whose r e f e r e n c e frame c o n s i s t s of a t r i a d o f mutually-

perpendicular d i r e c t e d l i n e s o r i g i n a t i n g from a common p o i n t , i n which a
v e c t o r i s expressed by components t h a t are s c a l a r magnitude p r o j e c t i o n s d o n g
each axis.

S l a n t range: The minimum o r s t r a i g h t - l i n e d i s t a n c e between two p o i n t s expressed

i n t h e same c o o r d i n a t e system.

P e r i g e e and apogee: The unique p o i n t s i n an e l l i p t i c o r b i t about t h e E a r t h ,

wherein t h e o b j e c t achieves minimum and maximum d i s t a n c e , r e s p e c t i v e l y , from
t h e c e n t e r of t h e Earth.

O s c u l a t i n g conic : A two-body approximation t o non-two-body motion t h a t i s derii-5 q.

from c o n d i t i o n s e x i s t i n g a t some i n s t a n t o f t i m e b u t t h a t i s e x a c t only i'ci
t h a t i n s t a n t . An osculating-conic t r a j e c t o r y i s one t h a t i s tangerL-- 3 the .f

t r u e t r a j e c t o r y at t h e defining i n s t a n t .
4
Geodetic l o c a l v e r t i c a l : A r e f e r e n c e e l l i p s o i d o f r e v o l u t i o n t h a t approximates
t h e f i g u r e of t h e E a r t h i s presumed. Then t h e l o c a l v e r t i c a l a t any p o i n t
i s along t h e unique l i n e t h a t i s normal t o t h e e l l i p s o i d s u r f a c e and t h a t
contains t h e point of i n t e r e s t .

Mean v e r s u s t r u e systems: The l i n e of i n t e r s e c t i o n o f t h e e c l i p t i c p l a n e ( t h e

i n s t a n t a n e o u s p l a n e o f motion o f t h e E a r t h and Sun) and t h e c e l e s t i a l
e q u a t o r (mean E a r t h e q u a t o r ) p r e c e s s e s among t h e f i x e d stars with a rate
of one r e v o l u t i o n i n 26 000 y e a r s . A d d i t i o n a l l y , t h e E a r t h wobbles s l i g h t l y
on i t s a x i s , r e l a t i v e t o i t s mean p o s i t i o n , w i t h p e r i o d s of o s c i l l a t i o n s of
o n l y a few y e a r s . The former phenomenon i s c a l l e d p r e c e s s i o n ; t h e l a t t e r
i s c a l l e d n u t a t i o n . A mean system conveys t h e concept t h a t p r e c e s s i o n i s
i n c l u d e d when r e l a t i n g t h a t system t o a n o t h e r system a t a d i f f e r e n t t i m e ,
b u t t h e n u t a t i o n phenomenon is not included. A t r u e system, however, con-
veys t h e concept t h a t a mean system at any s p e c i f i c i n s t a n t o f t i m e i s
converted t o a t r u e system at t h e same i n s t a n t o f t i m e by i n c l u d i n g terms
a s s o c i a t e d w i t h t h e n u t a t i o n phenomenon.

Lyndon B. Johnson Space Center

N a t i o n a l Aeronautics and Space Administration
Houston, Texas, October 1, 1974
986-16-20-00-72

5
 zM

t Earth's mean rotational

!axis of epoch

I . \

NAME: Aries-mean-of-1950, C a r t e s i a n , c o o r d i n a t e system.

ORIGIN: The c e n t e r of t h e Earth.

ORIENTATION : The epoch i s t h e beginning of Besselian y e a r 1950 o r

J u l i a n ephemeris d a t e 2433282.423357.

The s-Yw plane i s t h e mean E a r t h ' s equator of epoch.

The 5 axis i s d i r e c t e d towards t h e mean v e r n a l equinox

of epoch.

The Zb, a x i s i s d i r e c t e d along t h e E a r t h ' s mean r o t a t i o n a l

a x i s of epoch and i s p o s i t i v e north.

The YE? a x i s completes a right-handed System.

CHARACTERISTICS: I n e r t i a l , right-handed, C a r t e s i a n system.

Figure 1.- Aries mean of 1950, Cartesian.

6
 Position
*M

/
/
NAME: A r i e s mean of 1950, p o l a r , coordinate system.

ORIGIN: For p o s i t i o n - t h e center of t h e Earth.

ORIENTATION AND DEFINITIONS:
For v e l o c i t y - t h e p o i n t of i n t e r e s t , '()[MY 'MY 'MI'
For p o s i t i o n - same as i n Aries mean of
1950, Cartesian.
For v e l o c i t y -
Reference p l a n e i s perpendicular t o r a d i u s v e c t o r
%
from c e n t e r of E a r t h t o p o i n t P of i n t e r e s t .

Reference d i r e c t i o n i s n o r t h l e r l y along t h e meridian

r o n t a i n i n g P.

Polar p o s i t i o n c o o r d i n a t e s of P are:

r i g h t ascension, i s t h e angle between p r o j e c t i o n

aM,
of r a d i u s v e c t o r i n t h e e q u a t o r i a l plane and t h e
v e r n a l equinox of epoch.

6M, d e c l i n a t i o n , i s t h e angle between t h e r a d i u s v e c t o r

and the mean E a r t h ' s equator of epoch.

%, magnitude of 54'
Polar v e l o c i t y c o o r d i n a t e s of P are:

Let U, E, N denote up, e a s t , and n o r t h d i r e c t i o n s ; then:

azimuth, i s t h e angle from n o r t h t o t h e p r o j e c t i o n

YM,
of vM on t h e r e f e r e n c e plane, p o s i t i v e toward east.

f l i g h t - p a t h a n g l e , i s t h e angle between t h e r e f e r e nc e
yM,
plane and VM; p o s i t i v e sense toward U .

VM, magnitude of VM, i s always p o s i t i v e .

CHARACTERISTICS: Inertial.

Figure 2.- Aries mean of 1950, polar.

7
 'TR
Earth's true-of-date
rotational axis

' Y ~ ~

True of date equator

I
NAME: Aries t r u e of d a t e , C a r t e s i a n , coordinate system.

ORIGIN: The c e n t e r of t h e Earth.

ORIENTATION : The epoch i s t h e c u r r e n t time of i n t e r e s t .

The X, -Y plane i s t h e E a r t h ' s t r u e equator of epoch.

IR TR

The X, a x i s i s d i r e c t e d towards t h e true v e r n a l equinox

LR
of epoch.

The ZTR a x i s i s d i r e c t e d along t h e E a r t h ' s t r u e r o t a t i o n a l

a x i s of epoch and i s p o s i t i v e north.

The YTR a x i s completes t h e right-handed system.

CHARACTERISTICS: Q u a s i -i ne r t i a l , right-handed Cartesian.

Figure 3.- Aries true of date, Cartesian.

8
 I

i'"
/
/
/
to
/
Position / \ Velocity
/

I i r n: Aries t r u e of d a t e , p o l a r , coordinate system.

ORIGIN: For p o s i t i o n - the c e n t e r of t h e Earth.

For v e l o c i t y - the p o i n t of i n t e r e s t , P(%R, YTR, ZTR).

ORIENTATION: For p o s i t i o n -
same as i n Aries t r u e of d a t e , C a r t e s i a n .
For v e l o c i t y -
Reference plane i s perpendicular t o r a d i u s v e c t o r ETR
from c e n t e r of E a r t h t o point P of i n t e r e s t .

Reference d i r e c t i o n i s n o r t h e r l y along t h e meridian

containing P.

Polar p o s i t i o n c o o r d i n a t e s of P are:

r i g h t ascension, i s t h e a n g l e between p r o j e c t i o n of
am,
r a d i u s v e c t o r i n t h e e q u a t o r i a l plane and t h e t r u e v e r na l
equinox of epoch, measured p o s i t i v e toward t h e east.

d e c l i n a t i o n , i s t h e angle between t h e r a d i u s v e c t o r
and t h e E a r t h t i m e e q u a t o r i a l plane, of epoch, p o s i t i v e
toward t h e n o r t h .

RTR, i s t h e magnitude of
-
Rm.

Figure 4.- Aries true of date, polar.

9
 ORIENTATION (Concluded): P o l a r v e l o c i t y coordinates of P are:

L e t U , E , N denote up, east, and n o r t h d i r e c t i o n s ; then:

azimuth, i s t h e angle from n o r t h t o t h e p r o j e c t i o n

YTR,
of v, on t h e r e f e r e n c e plane, p o s i t i v e toward east.

f l i g h t - p a t h angle, is t h e angle between t h e r e f e r e n c e

yTR,
plane and Vm; p o s i t i v e sense toward U.
VTR, magnitude of TTR, i s always p o s i t i v e .

CHARACTERISTICS: Quasi-inert i a l .
Figure 4.- Aries true of date, polar - concluded.

10
 ZG-
t Earth's tnreaf-date
rotational axis

t' 1 I ' Y G

Prime (Greenwich)
mer Id Ian I
NAME: Greenwich t r u e o f d a t e (geographic) c o o r d i n a t e system.

ORIGIN : The c e n t e r of t h e Earth.

ORIENTATION : The Xc-YG plane i s t h e E a r t h ' s t r u e of d a t e equator.

The a x i s i s d i r e c t e d along t h e E a r t h ' s t r u e of d a t e

ZG
r o t a t i o n a l a x i s and i s p o s i t i v e north.

The +XG axis i s d i r e c t e d toward t h e prime meridian.

The YG axis completes a right-handed system.

CHARACTERISTICS: Rotating, right-handed, C a r t e s i a n . Velocity v e c t o r s

expressed i n t h i s system a r e r e l a t i v e t o a r o t a t i n g r e f e r e n c e
frame f i x e d t o t h e E a r t h , whose r o t a t i o n r a t e s a r e expressed
r e l a t i v e t o t h e Aries mean of 1950 system.

Figure 5 .-Greenwich true of date (geographic).

11
 t

,\ LTrue-of-date

Prime (Greenwich)
mer id ian
NAME: Geodetic coordinate system.

ORIGIN: T h i s system c o n s i s t s o f a set of parameters r a t h e r t h a n a

c o o r d i n a t e system; t h e r e f o r e , no o r i g i n i s s p e c i f i e d .

ORIENTATION: This system of parameters i s based on a e l l i p s o i d d

model of t h e Earth (e.g., t h e F i s c h e r e l l i p s e o f 1960).
For any p oi n t of i n t e r e s t we d e f i n e a l i n e , known as t h e
geodetic l o c a l v e r t i c a l , which i s perpendicular t o t h e
e l l i p s o i d and which c o n t a i n s t h e p o i n t of i n t e r e s t .

h, geodetic a l t i t u d e , i s t h e d i s t a n c e from t h e p o i n t of
i n t e r e s t t o t h e reference e l l i p s o i d , measured along t h e
geodetic l o c a l v e r t i c a l , and i s p o s i t i v e f o r p o i n t s
out s i d e t h e e l l i p s o i d .

X i s t h e longitude measured i n t h e plane of t h e E a r t h ' s

t r u e equator f r o m the prime (Greenwich) meridian t o t h e
l o c a l meridian, measured p o s i t i v e eastward.

$ i s t h e geodetic l a t i t u d e , measured i n t h e plane o f t h e

l o c a l meridian from t h e E a r t h ' s t r u e equator t o t h e
geodetic l o c a l v e r t i c a l , measured p o s i t i v e n o r t h from
t h e equator.

NOTE: A d e t a i l e d explanation of d e c l i n a t i o n , geodetic

l a t i t u d e , and g e o c e n t r i c l a t i t u d e i s provided i n
figure 6(b).

CHARACTERISTICS : Rotating p o l a r coordinate parameters. Only p o s i t i o n v e c t o r s

a r e expressed i n t h i s coordinate system. Velocity v e c t o r s
should be expressed i n t h e Aries mean o f 1950, or t h e Aries
true-of-date, polm f o r i n e r t i a l o r q u a s i - i n e r t i a l representa-
t i o n s , re s pe c t i v e l y . The F i s c h e r e l l i p s o i d model should be
used with t h i s system.

(a) Easic definitions.

Figure 6.- Geodetic.

12
 NAME: Geodetic coordinate system o f p o i n t P.

DEFINITIONS: h is t h e a l t i t u d e o f p o i n t P. Measured perpendicular

from t h e s u r f a c e of t h e referenced e l l i p s o i d .

0, i s t h e g e o d e t i c l a t i t u d e o f p o i n t P.

$c i s t h e g e o c e n t r i c l a t i t u d e of p o i n t P.

6 i s t h e angle between r a d i u s v e c t o r and e q u a t o r i a l

plane ( d e c l i n a t i o n ) .

X i s t h e l o n g i t u d e of p o i n t P. Angle ( + e a s t ) between
plane of t h e f i g u r e and t h e plane formed by t h e Greenwich
meridian.

(b) Detailed explanation.

Figure 6.- Geodetic - concluded.

 p" polar

,-Vehicle

Apogee J
NAME: O r b i t a l elenent coordinate system.

ORIGIN: The c e n t e r of the Earth.

ORIENTATION AND DEFINITIONS: The r e f e r e n c e for computing o s c u l a t i n g o r b i t a l

elements i s t h e Aries mean of 1950 c o o r d i n a t e system.

a i s t h e semimajor aXiS of t h e o r b i t .

e i s t h e eccentricity of t h e orbit.

i , t h e i n c l i n a t i o n of t h e o r b i t a l plane, is t h e angle
between t h e n o r t h polar axis and t h e o r b i t a l angular
momentum vector.

a , t h e r i g h t ascension o f t h e ascending node, is t h e a n g l e

measured eastward f r o m t h e v e r n a l equinox along t h e equator
t o t h a t i n t e r s e c t i o n w i t h t h e o r b i t plane where t h e v e h i c l e
p a s s e s from south t o n o r t h . I n t h e c a s e where i n c l i n a t i o n
equals zero, t h e ascending node i s d e f i n e d t o be t h e X axis
of t h e reference system.

W, t h e argument of perigee, i s t h e a n g l e measured i n t h e

o r b i t plane between t h e ascending node and perigee, p o s i t i v e
i n t h e d i r e c t i o n of travel i n t h e o r b i t . I n t h e c a s e where
e c c e n t r i c i t y equals zero, p e r i g e e i s d e f i n e d t o be a t t h e
ascending node.

f , t h e t r u e anomaly, i s t h e g e o c e n t r i c angular displacement

o f t h e v e h i c l e measured from p e r i g e e i n t h e o r b i t p l a n e , and
p o s i t i v e i n t h e d i r e c t i o n of t r a v e l i n t h e o r b i t .

CHARACTERISTICS: Quasi-inert i a l .

Figure 7.- Orbital elements.

14
 h-fixed launch azimuth)

True

NAME: Plumbline coordinate s y s t e n .

ORIGIN: A t t h e c e n t e r of t h e E a r t h .

ORIENTATION AND DIRECTIONS: The XpL a x i s i s p a r a l l e l t o t h e g r a v i t y g r a d i e n t (XI),

which p a s s e s through t h e launch s i t e and i s p o s i t i v e toward
t h e launch s i t e . The XpL a x i s i s f i x e d a t a s p e c i f i c a l l y
stated t h e .

The axis is p a r a l l e l t o , and p o s i t i v e i n t h e same

ZpL
d i r e c t i o n as t h e chosen Earth-fixed launch azimuth
d i r e c t i o n (Zl).

The YpL axis i s p a r a l l e l t o t h e Y' and completes a

standard right-handed system.

The YpL-ZpL plane i s normal t o launch s i t e g r a v i t y

g ra d i e n t vector.

CHARACTERISTICS: I n e r t i a l , right-handed, Cartesian.

Figure 8.- Plumbline.

 4 .:........
.:..:....:
.....
.:;. ......
Geocentric radius
vector of vehicle
P'
Direction

motion

NAME: U, V, W c o o r d i n a t e system.

ORIGIN: Point of i n t e r e s t .

ORIENTATION : The U-V plane i s t h e instantaneous o r b i t p l a n e a t epoch.

The U a x i s l i e s along t h e g e o c e n t r i c radius v e c t o r t o

t h e v e h i c l e and i s p o s i t i v e r a d i a l l y outward.

The W a x i s l i e s along t h e instantaneous o r b i t a l angular

momentum v e c t o r a t epoch and i s p o s i t i v e i n t h e d i r e c t i o n
o f t h e angular momentum v e c t o r .

The V axis completes a right-handed system.

CHARACTERISTICS: Q u a s i - i n e r t i a l , right-handed, C a r t e s i a n c o o r d i n a t e system.

This system i s q u a s i - i n e r t i a l i n t h e sense t h a t it i s
t r e a t e d as a n i n e r t i a l c o o r d i n a t e system, b u t it i s
re d e f i n e d a t each p o i n t o f i n t e r e s t .

Figure 9.- U, V, VI.

16
 D lrect ion

Geocentric radius c' motion

xLo

NAME: Local o r b i t a l coordinate system.

ORIGIN: Vehicle c e n t e r of mass.

ORIENTATION: The XLo-ZLo plane i s t h e instantaneous o r b i t p l a n e at t h e

time of i n t e r e s t . The ZLo axis l i e s along t h e g e o c e n t r i c
r a d i u s vector t o t h e v e h i c l e and is p o s i t i v e toward t h e
c e n t e r of t h e Earth.

The XLo a x i s l i e s i n t h e v e h i c l e o r b i t a l plane, perpendicular

t o the a x i s , and p o s i t i v e i n t h e d i r e c t i o n of v e h i c l e
ZLo
motion.

The a x i s i s normal t o t h e o r b i t p l a n e and completes

YLo
t h e right-handed orthogonal system.

CHARACTERISTICS: Quasi-inertial, right-handed, Cartesian coordinate system.

Figure 10.- Local orbital.

 NAME: Landing f i e l d c o o r d i n a t e system.

ORIGIN: Runway c e n t e r a t approach threshold.

ORIENTATION AND DEFINITIONS: ZLF axis i s normal t o t h e e l l i p s o i d model through t h e

runway c e n t e r l i n e at t h e approach t h r e s h o l d and p o s i t i v e
toward t h e c e n t e r of t h e Earth.

XLF a x i s i s perpendicular t o t h e ZLF axis and l i e s i n

a plane containing t h e ZLF axis and t h e runway c e n t e r l i n e .
( p o s i t i v e i n t h e d i r e c t i o n of l a n d i n g ) .

a x i s completes t h e right-handed system.

YLF
+ i s t h e runway a x i u u t h measured i n t h e b y L F plane
from t r u e n o r t h t o t h e +%F a x i s ( p o s i t i v e clockwise).

CHARACTERISTICS: Rotating, Earth-referenced.

Figure 11.- Landing field.

18
 'BY

tt
'BY

NAME: Body a x i s coordinate system.

ORIGIN: Center of mass.

ORIENTATION: XBy a x i s i s p a r a l l e l t o t h e o r b i t e r s t r u c t u r a l body Xo

a x i s ; p o s i t i v e toward t h e nose.

ZBy a x i s i s p a r a l l e l t o t h e o r b i t e r plane of symmetry and i s

perpendicular t o %y, p o s i t i v e down with r e s p e c t t o t h e
o r b i t e r fuselage.

YBy a x i s completes t h e right-handed orthogonal system.

CHARACTERISTICS: Rotating, right-handed, Cartesian System.

L, M, N: Moments about XBy, YBy, and ZBy a x e s , r e s p e c t i v e l y .

p,q, r: Dody r a t e s about XBy, YBy, and ZBy axes, r e s p e c t i ve l y.

i,i,G : Angular body s c e l e r a t i o n about XBy, YBy, and ZBy

axes, r e s p e c t i v e l y .

The M e r sequence t h a t i s commonly a s s o c i a t e d with t h i s

system i s a yaw, p i t c h , roll sequence, where JI = yaw,
e = p i t c h , and $I = r o l l or bank. This a t t i t u d e sequence
is yaw, p i t c h , and r o l l around t h e ZBy, YBy, and XBy axes,
re s p e c t i v e l y .

(a) Basic definition.

Figure 12.- Body axes.

 The body a x i s system and t h e v e l o c i t y v e c t o r ‘‘vW’with
components U , V, and W [ s e e f i g . 1 2 ( b ) ] can be’used t o
d e fi n e t h e s t a b i l i t y , Wind, and t r a j e c t o r y axes systems.

A s i m i l a r system can be defined f o r the ‘ s o l i d rocket

b o o s t e r s and i n t e g r a t e d v e h i c l e .

-
(a) Basic definition concluded.

Figure 12.- Body axes - continued.

20
 /

(b) Resolution of relative wind into components along vehicle body axes.
-
Figure 12.- Body axes concluded.

21
 'BY

NAME: S t a b i l i t y a x i s c o o r d i n a t e system.

ORIGIN: Center of m a s s .

ORIENTATION : XSB l i e s i n the XBy, ZBy plane p o s i t i v e i n t h e d i r e c t i o n

of t h e r e l a t i v e v e l o c i t y and c o i n c i d e n t with t h e p r o j e c t i o n
o f t h e r e l a t i v e wind on t h e o r b i t e r plane of symmetry.
ZSB
l i e s i n a plane p a r a l l e l t o t h e o r b i t e r plane of symmetry, perpen-
d i c u l a r t o XSB, p o s i t i v e down with r e s p e c t t o t h e o r b i t e r f u s e l a g e .

YSB completes t h e right-handed system.

The s t a b i l i t y a x i s system i s obtained from t h e body- a x i s

system by a r o t a t i o n about t h e +YBy a x i s through t h e
angle of a t t a c k , -a.

CHARACTERISTICS: R o t a t i n g , right-handed, Cartesian. See f i g u r e 12(b).

Figure 13.- Stabillty axes.

22
 Re1at1ve- wind

J
'SB
vector

zW

NAME: Wind axes coordinate system.

ORIGIN: Center o f mass.

i s coincident with t h e relative-wind v e c t o r ,

ORIENTATION : %
p o s i t i v e i n t h e d i r e c t i o n of t h e r e l a t i v e v e l o c i t y .

Zw i s t h e ZSB a x i s .

Yw completes t h e right-handed system.

The wind a x i s system i o obtained from t h e s t a b i l i t y system

by a r o t a t i o n about t h e ZSB a x i s through t h e angle of
s i d e s l i p 6.

CHARACTERISTICS: Rot a t i n g , right-handed, Cartesian. The relative-wind v e c t o r

m a y be resolved i n t o components along t h e v e h i c l e body axes
as shown i n f i g u r e 1 2 ( b ) . A similar system can be d e f i n e d
f o r t h e s o l i d rocket b o o s t e r s and t h e i n t e g r a t e d v e h i c l e .

Figure 14 .-Wind axes. 23

 NAME: T ra j e c t o ry a x i s coordinate system.

ORIGIN: Center of mass.

ORIENTATION: sJ i s c o i n c i d e n t with t h e , E a r t h r e l a t i v e - v e l o c i t y v e c t o r p o s i t i v e
i n t h e d i r e c t i o n of t h e v e l o c i t y .

ZTJ i s contained i n t h e plane of t h e r e l a t i v e v e l o c i t y and t h e

geodetic a l t i t u d e [ s e e f i g . 6 ( b ) ] normal t o t h e XTJ axis posi-
t i v e downward.

(NOTE: For high speed f l i g h t , zTJ i s normally considered as

being i n a plane containing t h e v e l o c i t y v e c t o r and t h e c e n t e r
of t h e Earth. Ve and Vw are considered c o i n c i d e n t a l . )

YTJ completes t h e right-handed orthogonal system.

The t r a j e c t o r y a x i s system i s obtained from t h e wind system by a

r o t a t i o n about t h e a x i s through t h e angle r o l l (6), p o s i t i v e
+Xw
41 i s defined by t h e right-handed rule.

CHARACTERISTICS: Rotating, right-handed, C a r t e s i a n system. The E u l e r sequence t h a t

i s a s s o c i a t e d with t h i s system is a r o l l , yaw, p i t c h sequence
where $J = r o l l , JI = yaw, and a = p i t c h . The sequence i s com-
monly used i n three-degree-of-freedom s i m u l a t i o n of a i r c r a f t
f l i g h t with t h e assumption t h a t 8 = Q = 0 f o r symmetric f l i g h t .

Figure 15 .- Trajectory axes.

24
 North

\‘

(Aries true of date)

NAME: Topocentric coordinate system.

ORIGIN: O r b i t e r c e n t e r o f mass.

ORIENTATION: ZTc i s p o s i t i v e along r a d i u s v e c t o r toward E a r t h c e n t e r .

Tc is perpendicular t o ZTc axis and p o s i t i v e northward along

t h e meridian plane c o n t a i n i n g t h e o r b i t e r .

YTc completes right-handed orthogonal system.

aTR i s r i g h t ascension.

6TR is declination.

CHARACTERISTICS: Rotating, right-handed, C a r t e s i a n system. Velocity v e c t o r s are

e x p r e s s i b l e i n t h i s system for t h e o r b i t e r .

Figure 16.- Topocentric.

 North

Flscher

NAME: Topodetic coordinate system.

ORIGIN : O r b i t e r c e n t e r of massa.

ORIENTATION: Zm
i s normal t o a geodetic l o c a l tangent plane and i s p o s i t i v e
toward t h e E a r t h ' s c e n t e r .

Tn i s perpendicular t o ZTD a x i s and i s p o s i t i v e northward

along t h e meridian plane containing t h e o r b i t e r .

completes t h e right-handed orthogonal system.

YTD

CHARACTERISTICS: Rotating, right-handed, C a r t e s i a n system. Velocity v e c t o r s 81'8

g x p r e s s i b l e i n t h i s system for t h e o r b i t e r , given r e l a t i v e v e l o c i t y
VTD i n t h i s system.

@ = geodetic l a t i t u d e [ a l s o s e e f i g . 6 ( b ) l
D

a~ similar system may be defined f o r any p o i n t of i n t e r e s t .

Figure 17.- Topodetic.

26
 “BY
I

NAME: Look angle coordinate system,

(NOTE: The d e f i n i t i o n of t h i s system i s i d e n t i c a l t o t h e

body axis system, b u t it i s presented as a s e p a r a t e system
t o c l a r i f y a second c l a s s of u s e s . )

ORIGIN: O r b i t e r c e n t e r of mass.

ORIENTATION : XBy a x i s i s i n a plane p a r a l l e l t o t h e o r b i t e r s t r u c t u r a l body

a x i s (X,), p o s i t i v e toward t h e nose.

ZBy a x i s l i e s i n a plane p a r a l l e l . t o t h e o r b i t e r plane of symmetry and

i s perpendicular t o XBy, p o s i t i v e down with r e s p e c t t o t h e o r b i t e r f us e l a ge .

YBy a x i s completes t h e right-handed orthogonal system.

Look angles define a v e c t o r d i r e c t i o n r e l a t i v e t o t h e body axes

of t h e v e h i c l e . Since only d i r e c t i o n i s involved, t h e o r i g i n
i s t r a n s l a t a b l e t o any p o i n t on t h e body.
-V i s any vector l i n e of s i g h t .

Yaw i s measured from t h e v e h i c l e XBy a x i s t o t h e p r o j e c t i o n of

-
V onto t h e XBy, YBy p l a n e . Yaw, from 0 t o 360°, is a right-
handed r o t a t i o n about t h e ZBy a x i s .

Figure 18 .- Look angle.

27
 -
ORIENTATION: * P i t c h i s t h e angle between t h e v e c t o r V and i t s p r o j e c t i o n onto
Concluded the XBy, YBy plane.

P i t c h i s formed by a right-handed r o t a t i o n about t h e p r e v i o u s l y

r o t a t e d yBy a x i s and i s p o s i t i v e toward -ZBy.

CHARACTERISTICS: R o t a t i n g , right-handed, Cartesian system.

D i re c t i o n of c e l e s t i a l o b j e c t s , ground s t a t i o n s , o t h e r o r b i t i n g
v e h i c l e s , e t c . , from t h e o r b i t e r can be r e p o r t e d i n this-system.
A u n i t v e c t o r along XBy will be made t o coincide with V by
r o t a t i n g t h e v e c t o r through t h e yaw angle about t h e ZBy a x i s ,
t h e n through t h e p i t c h a n g l e , about t h e Yiy a x i s , i n t h a t o r d e r .
YiY i s t h e yBy l o c a t i o n r e s u l t i n g from t h e f i r s t l o c a t i o n . This
coordinate system can be used as an instrument p o i n t i n g coordinate
system when t h e o r i g i n i s t r a n s l a t e d t o t h e instrument c e n t e r loca-
t i o n . A t h i r d r o t a t i o n , analogous t o body r o l l , i s used t o e s t a b l i s h
t h e instrument index referenced t o t h e body c o o r d i n a t e system.
This system may be used a s a b a s i c f o r d e f i n i n g o r b i t e r - a n t e n n a r a d i a t i o n -
distribution patterns.

Figure 18 .-Look angle - concluded.

I
+'NE

NAME: Navigation base coordinate system.

ORIGIN: The o r i g i n i s TBD (probably on t h e upper s u r f a c e of t h e naviga-

t i o n base i n a plane p a r a l l e l t o t h e plane of symmetry of t h e o r b i t e r ) .

ORIENTATION: The k,Ym plane i s t h e upper s u r f a c e of t h e n a v i g a t i o n b a s e .

The a x i s l i e s i n a plane p a r a l l e l t o t h e plane of syimetry

of t h e o r b i t e r and is p o s i t i v e forward.

The i s perpendicular t o t h e upper s u r f a c e of t h e n a v i g a t i o n

ZNB
base and i s p o s i t i v e downward.

The Ym a x i s completes t h e right-handed system.

11 i s t h e angle between t h e mounted navigation base plane and t h e

XBY, YBY plane.

CHARACTERISTICS: R o t a t i n g , right-handed , Cartesian.

Figure 19 .-Navigation base.

29
 Two-speed resolver

Single speed (8x1

resolver (redundant roll)

+ Azimuth

!iNG : I n e r t i a l measurement u n i t ( I W ) s t a b l e member coordinate system.

ORIGIJ: The i n t e r s e c t i o n of t h e innermost gimbal a x i s and t h e

measurement plane of t h e XY two axis accelerometer .
ORIENTATION : The ZI a x i s i s coincident with t h e innermost gimbal a x i s .

The XI a x i s i s deternined by t h e p r o j e c t i o n of t h e X
accelerometer input a x i s ( I A ) onto a plane orthogonal t o
ZI. YI completes s right-handed t r i a d .

I n a p e r f e c t IMU, with all misalinements z e r o , t h e s e

r e l a t i o n s h i p s hold:

The X accelerometer and X gyro U s are p a r a l l e l t o

the XI axis.

The Y accelerometer and Y gyro IAs are p a r a l l e l t o

the YI axis.

The Z accelerometer and Z gyro IAs a r e p a r a l l e l t o

the ZI axis.

Figure 20.- Inertial measurement unit stable member.

CHARACTERISTICS: Nonrotating, right-handed, C a r t e s i a n system.

The r e f e r e n c e alinement f o r t h e gimbal c a s e s h a l l be d e f i n e d

with t h e f o u r gimbal angles a t zero and with t h e v e h i c l e i n a
h o r i z o n t a l p o s i t i o n . I n a p e r f e c t IMU, with all misalinements
zero and w i t h a l l gimbal angles a t zero, t h e following r e l a -
t i o n s h i p s hold.

The o u t e r r o l l a x i s and t h e XI-axis will be p a r a l l e l t o

&.
Positive XI w i l l be i n t h e forward d i r e c t i o n . Positive r o l l
gimbal angles w i l l be i n t h e sense o f a right-handed r o t a t i o n
o f t h e gimbal case r e l a t i v e t o t h e p l a t f o r m about t h e p l u s
.outer. roll axis.

The p i t c h axis and YI w i l l be p a r a l l e l t o Ym. Positive

w i l l be t o t h e r i g h t of an observer looking forward i n t h e
YI
v e h i c l e . P o s i t i v e p i t c h gimbal angles w i l l be i n t h e sense of
a right-handed r o t a t i o n of t h e gimbal case r e l a t i v e t o t h e
platform about t h e p l u s p i t c h a x i s .

The i n n e r r o l l a x i s K i l l be p a r a l l e l t o t h e o u t e r r o l l a x i s ,
with t h e sense of r o t a t i o n t h e same as f o r t h e o u t e r roll a x i s .

The azimuth axis and ZI w i l l be p a r a l l e l t o b.P o s i t i v e

w i l l be down r e l a t i v e t o an observer s t a n d i n g i n t h e v e h i c l e .
ZI
P o s i t i v e azimuth gimbal angles w i l l be i n t h e sense of a r i g h t -
handed r o t a t i o n o f t h e gimbal case r e l a t i v e t o t h e platform
about t h e plus azimuth a x i s .

Figure 20.- Inertial measurement unit stable member - concluded.

 *BY

Optical-/
base 1
oa
1
'BY

NAME: O p t i c a l k s e cc r d i n a t e system.

ORIGIN: On upper s u r f a c e o f o p t i c a l base d units t o p i l o t ' s l e f t

o f t h e XBy, ZBy p l a n e and d ' u n i t s from t h e sy,
YBy
p l a n e of t h e s h u t t l e .

ORIENTATION : The XOB, YOB plane i s t h e upper s u r f a c e of t h e o p t i c a l

base. The ZOB a x i s is perpendicular t o t h e upper s u r f a c e
of t h e o p t i c a l base (nominally p a r a l l e l t o t h e s h u t t l e body
a x i s 2 ) and i s p o s i t i v e downward. The XOB a x i s i s
BY
a' from t h e XBy, ZBy plane and t h e YOB a x i s completes
t h e right-handed system.

a i s t h e angle displacement of XOB axis from t h e XBy axis.

Xiy is the XBy axis d i s p l a c e d t o t h e o p t i c a l base coordinate

system o r i g i n .

d ' i s t h e perpendicular d i s t a n c e from o p t i c a l base coordinate

system o r i g i n t o t h e XBy, YBy plane.

d i s t h e perpendicular d i s t a n c e from t h e o p t i c a l base

c o o r d i n a t e system o r g i n t o t h e x
p l a n e of syxtunetry). BY'
zBy p l a n e ( i . e . , s h u t t l e

CHARACTERISTICS: Rotating, right-handed, Cartesian.

Figure 2 1 .- Optical base.

32
 V'

C'

NAME: S t a r t r a c k e r o p t i c s c o o r d i n a t e system,

ORIGIN: A p o i n t on t h e f a c e of star t r a c k e r assembly.

ORIENTATION: S t a r Trackers 1 and 2:

The C axis i s p a r a l l e l t o t h e ZoB a x i s and oppositely

d i re c t e d .

The V axis is p a r a l l e l t o t h e YoB a x i s and p o s i t i v e

i n same d i r e c t i o n .

The H axis completes t h e CVH right-handed system.

S t a r Tracker 3:

The C' axis i s p a r a l l e l t o t h e YoB a x i s and o p p o s i t e l y

directed.

The V' axis i s p a r a l l e l t o t h e ZoB a x i s and o p p o s i t e l y

directed.

The H' axis completes t h e C'V'H' right-handed system.

c

CHARACTERISTICS: Rotating, right-handed, Cartesian.

Figure 22 .- Star tracker optics. 33

 +zO

t
-zO

NAME: O rb i t e r s t r u c t u r a l body coordinate System.

ORIGIN: I n t h e o r b i t e r plane o f symmetry, 400 i n c h e s below t h e c e n t e r

l i n e o f t h e payload bay and 235 inchesa forwa& o f t h e t i p of
t h e o r b i t e r nose f a i r i n g .

ORIENTATION: The Xo axis is i n t h e v e h i c l e p l a n e o f symmetry, p a r a l l e l

t o and 400 inches below t h e payload bay c e n t e r l i n e . P o s i t i v e
sense i s from t h e nose of t h e v e h i c l e toward t h e t a i l .

The axis i s i n t h e v e h i c l e p l a n e of symmetry, perpen-

Zo
dicular t o the Xo axis. P o s i t i v e upward i n l a n d i n g
attitude.

The Yo a x i s completes a right-handed system.

CHARACTERISTICS: Rotating, right-handed, Cartesian.

a T h i s d i s t a n c e i s v a l i d as of October 8, 1974, but m a y r e q u i r e updating as t h e

o r b i t e r v e h i c l e becomes b e t t e r defined.

Figure 23.- Orbiter structural body.

34
 0

OZT

NAME: External tank (ET) or i n t e g r a t e d v e h i c l e s t r u c t u r a l

body coordinate system.

ORIGIN : I n t h e i n t e g r a t e d v e h i c l e plane of symmetry, 400 inches

below t h e c e n t e r l i n e of t h e e x t e r n a l t a n k i n t h e i n t e -
g r a t e d configuration and 327.61 inchesa forward of t h e t i p
o f t h e ET nose f a i r i n g .

ORIENTATION: The XT a x i s is i n t h e i n t e g r a t e d v e h i c l e plane of

symmetry, p a r a l l e l t o and 400 inches below t h e e x t e r n a l t a n k
c e n t e r l i n e i n t h e i n t e g r a t e d c o n f i g u r a t i o n . P o s i t i v e sense
from t h e nose toward a f t end of ET.

The ZT a x i s i s i n t h e i n t e g r a t e d v e h i c l e plane of symmetry,

perpendicular t o t h e XT axis. P o s i t i v e sense from ET
toward o r b i t e r when i n i n t e g r a t e d c o n f i g u r a t i o n .

The YT a x i s completes a right-handed system.

CHARACTERISTICS : Rotating, right-handed, Cartesian.

'This d i s t a n c e i s v a l i d as of October 8, 1974, but may r e q u i r e updating as t h e

ET becomes b e t t e r defined.

Figure 24.- External tank or integrated vehicle structural body.

35
 3

NAME: S o l i d ro c k e t b o o s t e r (SRB) s t r u c t u r a l body c o o r d i n a t e system.

ORIGIN: R i & t SRB -On t h e r i g h t SRB c e n t e r l i n e 200 inchesa forWard

of t h e t i p of t h e SRB nose f a i r i n g .

Left SRB -On t h e l e f t SRB c e n t e r l i n e 200 i n c h e s forward o f

t h e t i p of t h e SRB nose f a i r i n g .

ORIENTATION: Right SRB - The % a x i s i s coincident with t h e r i g h t SRB

c e n t e r l i n e , with p o s i t i v e sense from t h e nose towerd t h e t a i l
of t h e v e hi c l e .

The 5 a x i s i s p a r a l l e l t o t h e i n t e g r a t e d v e h i c l e plane o f
symmetry and perpendicular t o 5. P o s i t i v e sense i s from ET
toward t h e o r b i t e r when i n t h e i n t e g r a t e d c o n f i g u r a t i o n .

The YB a x i s completes a right-handed system.

L e f t SRB - The % a x i s i s c o i n c i d e n t with t h e l e f t SRB c e n t e r

l i n e , with p o s i t i v e sense from t h e nose toward t h e t a i l of t h e
vehicle.

Figure 25 .-Sol id rocket booster structural body.

36
 ORIENTATION: The % axis i s p a r a l l e l t o t h e i n t e g r a t e d v e h i c l e plane of
(concluded) symmetry and perpendicular t o t h e 5 axis. Positive sense
i s from ET toward t h e o r b i t e r when i n t h e i n t e g r a t e d configura-
tion.

The YB axis completes a right-handed system.

CHARACTERISTICS: Both systems a r e r o t a t i n g , right-handed, Cartesian.

%his d i s t a n c e i s v a l i d as of October 8, 1974, b u t may r e q u i r e updating as t h e

SRB becomes b e t t e r defined.

Figure 25 .-Sol id rocket booster structural body - concluded.

37
 A

True
t/ tangent plane

NAME: Radar azimuth-elevation mount coordinate system.

ORIGIN: The i n t e r s e c t i o n of t h e r a d a r axes.

ORIENTATION AITE DEPINITIONS: The r a d a r - s i t e tangent plane c o n t a i n s t h e s i t e and i s

perpendicular t o t h e r e f e r e n c e e l l i p s o i d normal which
passes through t h e r a d a r site.

R i s t h e s l a n t range t o t h e v e h i c l e .

A i s t h e azimuth a n g l e measured clockwise from t r u e

n o rt h t o t h e p r o j e c t i o n o f t h e s l a n t range v e c t o r
i n t o t h e r a d a r - s i t e tangent plane.

E i s t h e e l e v a t i o n angle measured p o s i t i v e above t h e radar-

s i t e tangent plane t o t h e s l a n t range v e c t o r .

CHARACTERISTICS: Rotating, Earth-referenced.

Figure 26 .-Radar azimuth-elevation mount.

38
 True

NAME: T a c t i c a l a i r navigation (TACAN) coordinate system.

ORIGIN: TACAN antenna

ORIENTATION AND DEFINITIONS: The TACAN-site tangent p l a n e c o n t a i n s t h e s i t e and i s

perpendicular t o t h e r e f e r e n c e e l l i p s o i d normal which
passes through t h e TACAN s i t e .

R i s t h e s l a n t range t o t h e v e h i c l e .

A is t h e azimuth angle measured clockwise from magnetic '

n o r t h t o t h e p r o j e c t i o n of t h e s l a n t range v e c t o r i n t o
t h e TACAN s i t e tangent plane.

E is t h e e l e v a t i o n a n g l e measured p o s i t i v e above t h e
TACAN s i t e tangent p l a n e t o t h e s l a n t range v e c t o r .

CHARACTERISTICS: Elevation i s not t r a n s m i t t e d by TACAN. The TACAN azimuth

o f t h e e a r t h ' s true North Pole i s minus v a r i a t i o n and i s
a geographic s t a t i o n constant ( t r u e bearing -
variation =
magnetic b e a r i n g ) .

The TACAN i s f i x e d t o t h e E a r t h and i s t h e r e f o r e a r o t a t i n g

system.

Flgure 27.- Tactical air navigation.

39
 Zenith

Plane of the
X/ prime vertical

OYF
/ L L o c a l horizontal

NAME: Radar X-Y mount 30-ft d i s h coordinate system.

ORIGIN: A t t h e i n t e r s e c t i o n of t h e 5 a x i s and t h e plane of t h e

YF a x i s gear.

ORIEITATION AND DEFIIJITIONS : R i s t h e s l a n t range from t h e r a d a r s i t e t o t h e v e h i c l e .

The % axis l i e s along t h e i n t e r s e c t i o n of t h e h o r i z o n t a l

plane and t h e meridian plane at t h e r a d a r site. The YF axis
i s perpendicular t o t h e axis. 5
X is t h e a n g l e measured i n t h e p l a n e of t h e r a d a r s i t e prime
v e r t i c a l from t h e z e n i t h t o t h e p r o j e c t i o n of t h e s l a n t range
v e c t o r onto t h i s plane, p o s i t i v e eastward.

Y i s t h e a n g l e between t h e s l a n t range v e c t o r and i t s

p r o j e c t i o n onto t h e plane of t h e r a d a r s i t e prime v e r t i c a l ,
p o s i t i v e when t h e s l a n t range v e c t o r i s n o r t h of t h e plane
and n e g a t i v e when it is south of it.

(When t h e r a d a r antenna i s d i r e c t e d t o x a r d t h e z e n i t h , t h e X
and Y a n g l e s a r e zero arid the YF axis i s perpendicular t o
t h e r a d a r s i t e meridian p l a n e ) .

CHARACTERISTICS: Rotating, p o l a r coordinates.

40
Figure 28 .-Radar X-Y mount, 30-ft dish.
 Zenith

+yJ

4 Local
horizontal

(East)

NAME: Radar X-Y mount, 85-ft d i s h c o o r d i n a t e system.

ORIGIN: A t t h e i n t e r s e c t i o n of t h e a x i s and t h e p l a n e of t h e YJ
a x i s gear.
XJ

ORIENTATIOB AND DEJ?INITIONS: R i s t h e s l a n t range from t h e r a d a r s i t e t o t h e v e h i c l e .

The XJ axis l i e s along t h e i n t e r s e c t i o n o f t h e h o r i z o n t a l

plane and t h e plane of t h e prime v e r t i c a l a t t h e r a d a r s i t e .
The YJ a x i s i s perpendicular t o t h e XJ a x i s .

X i s t h e angle measure i n t h e meridian plane of t h e r a d a r

s i t e from t h e z e n i t h t o t h e p r o j e c t i o n of t h e s l a n t range
v e c t o r onto t h i s plane, p o s i t i v e southward.

Y i s t h e angle between t h e s l a n t range v e c t o r and i t s

p r o j e c t i o n onto t h e meridian p1ar.e of t h e r a d a r s i t e , p o s i t i v e
when t h e s l a n t range v e c t o r i s east o f t h e meridian p l a n e
and negative when it is west of it.

(When t h e radar antenna i s d i r e c t e d toward t h e z e n i t h , t h e

X and Y angles a r e zero and t h e YJ a x i s i s perpendicular
t o t h e r a d a r s i t e prime v e r t i c a l plane. )

CHARACTERISTICS: Rotating, polar coordinates.

Figure 29.- Radar X-Y mount, 8 5 - f t dish.

41
 NAME: Payload re fe re n c e c o o r d i n a t e system.

ORIGIN: 200 inches below t h e payload c e n t e r l i n e at t h e forward end of

t h e payload.

ORIENTATION : The SDa x i s i s p a r a l l e l t o t h e o r b i t e r payload-bay c e n t e r -

l i n e and p o s i t i v e toward t h e t a i l of o r b i t e r .

The ZpD a x i s i s p a r a l l e l t o t h e o r b i t e r plane o P symmetry and

i s p o s i t i v e upward i n t h e o r b i t e r landed p o s i t i o n .

The YpD a x i s completes t h e right-handed system.

CHARACl'ERISTICS : Right-handed, Cartesian.

Figure 30 .-Payload reference.

42
 "PB

-X

NAME: Pilot-body-fixed coordinate system.

ORIGIN: P i l o t c e n t e r of mass.

ORIENTATION: is forward, +YpB i s t o t h e p i l o t ' s r i g h t , and +ZpB

"PB
is down.

CHARACTERISTICS: Rotating , right-handed, Cartesian.

Figure 3 1 .- Pilot-body-fixed.

43
 r-YMEZME plane (reference)

M e w looking aft)
I.- 'XME

NAME: Space s h u t t l e main engine (SSME) s t r u c t u r a l bcdy c o o r d i n a t e system.

ORIGIN: The i n t e r s e c t i o n of t h e engine geometric c e n t e r l i n e and t h e

i n t e r f a c e p l a n e formed by t h e orbiter/SSME mounting
Ym, Zm
s u r f a c e , which is p e r p e n d i c u l a r t o t h e engine geometric c e n t e r -
l i n e (%) and i s l o c a t e d 1 0 inches forward of t h e engine gimbal.
center.

ORIENTATION: Vehicle mounted SSME h,Ym, & axes o r i e n t a t i o n relative

t o o r b i t e r Xo, Yo, Z axes i s a s follows:
0

Engine no. 1 ( t o p engine)

a x i s i s canted at an angle of 16' i n a pitch-up

&
p o s i t i o n with r e s p e c t t o o r b i t e r Xo a x i s .

Ym and Zm axes a r e i n t h e same plane of symmetry

as t h e o r b i t e r Yo and Zo axes.

Engine no. 2 (lower l e f t , looking forward)

a x i s i s canted at an angle of 10' i n a pitch-up

&
p o s i t i o n and 3.5' yaw outboard p o s i t i o n with r e s p e c t
t o o r b i t e r Xo a x i s .

Ym and a x e s a r e r o t a t e d 90° counterclockwise

with re s p e c t t o t h e Yo, Zo plane o f symmetry.

(a) Basic definition,

Flgure 32 .- Space shuttle main engine structural body.

44.
 ORIENTATION (Concluded) : Engine no. 3 (lower r i g h t , looking forward)

axis canted a t an angle of 10' i n a pitch-up

&
position and 3.5' yaw outboard p o s i t i o n Kith respect
t o o r b i t e r Xo axis.

Ym and Zm axes are i n t h e same plane of symmetry

as t h e o r b i t e r Yo and Z,, axes.

SSME gimbal center l o c a t i o n s r e l a t i v e t o t h e o r b i t e r s

s t r u c t u r a l body coordinates are:

Engine no. 1 Xo = 1445

Yo = 0

zo = 443

Engine no. 2 Xo = 1468.17

Yo -53.0

Zo = 342.64

Engine no. 3 Xo = 1468.17

Yo = +53.0
Zo = 342.64
Note: The r e l a t i o n s h i p of t h e uncanted SSME t o t h e o r b i t e r i s
shown i n figure 32(b).

CHARACTERISTICS: Rotating, right-handed, Cartesian.

(a) Basic definition - concluded.

Figure 32 .- Space shuttle main engine structural body - continued,

c
 +*O

(b) Systems shown uncanted for clarity (view looking forward).

Figure 32 .-Space shuttle main engine structural body - concluded.

NASA-JSC
46