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  2. Rotation matrix - Wikipedia

    en.wikipedia.org/wiki/Rotation_matrix

    The case of θ = φ is called an isoclinic rotation, having eigenvalues e ±iθ repeated twice, so every vector is rotated through an angle θ. The trace of a rotation matrix is equal to the sum of its eigenvalues. For n = 2, a rotation by angle θ has trace 2 cos θ. For n = 3, a rotation around any axis by angle θ has trace 1 + 2 cos θ.

  3. Earth-centered, Earth-fixed coordinate system - Wikipedia

    en.wikipedia.org/wiki/Earth-centered,_Earth...

    The Earth-centered, Earth-fixed coordinate system (acronym ECEF), also known as the geocentric coordinate system, is a cartesian spatial reference system that represents locations in the vicinity of the Earth (including its surface, interior, atmosphere, and surrounding outer space) as X, Y, and Z measurements from its center of mass.

  4. Local tangent plane coordinates - Wikipedia

    en.wikipedia.org/wiki/Local_tangent_plane...

    Local tangent plane coordinates (LTP) are part of a spatial reference system based on the tangent plane defined by the local vertical direction and the Earth's axis of rotation. They are also known as local ellipsoidal system , [ 1 ] [ 2 ] local geodetic coordinate system , [ 3 ] local vertical, local horizontal coordinates ( LVLH ), or ...

  5. Earth's rotation - Wikipedia

    en.wikipedia.org/wiki/Earth's_rotation

    Earth's rotation axis moves with respect to the fixed stars (inertial space); the components of this motion are precession and nutation. It also moves with respect to Earth's crust; this is called polar motion. Precession is a rotation of Earth's rotation axis, caused primarily by external torques from the gravity of the Sun, Moon and other bodies.

  6. Earth-centered inertial - Wikipedia

    en.wikipedia.org/wiki/Earth-centered_inertial

    The x-axis is permanently fixed in a direction relative to the celestial sphere, which does not rotate as Earth does. The z-axis lies at a 90° angle to the equatorial plane and extends through the North Pole. Due to forces that the Sun and Moon exert, Earth's equatorial plane moves with respect to the celestial sphere.

  7. Rotation of axes in two dimensions - Wikipedia

    en.wikipedia.org/wiki/Rotation_of_axes_in_two...

    In mathematics, a rotation of axes in two dimensions is a mapping from an xy-Cartesian coordinate system to an x′y′-Cartesian coordinate system in which the origin is kept fixed and the x′ and y′ axes are obtained by rotating the x and y axes counterclockwise through an angle .

  8. Eartha - Wikipedia

    en.wikipedia.org/wiki/Eartha

    Eartha is the world's largest rotating and revolving globe, located within the former headquarters of the DeLorme mapping corporation in Yarmouth, Maine. [1] Garmin purchased the company and the building in 2016. [2] The globe weighs approximately 5,600 pounds (2,500 kg), and has a diameter of over 41 feet (12.5 m).

  9. Quaternions and spatial rotation - Wikipedia

    en.wikipedia.org/wiki/Quaternions_and_spatial...

    A rotation can be represented by a unit-length quaternion q = (w, r →) with scalar (real) part w and vector (imaginary) part r →. The rotation can be applied to a 3D vector v → via the formula = + (+). This requires only 15 multiplications and 15 additions to evaluate (or 18 multiplications and 12 additions if the factor of 2 is done via ...