PE&RS October 2018 Full - page 656

The attitude coordinate reference system (ARS) locates at
OS. The origin of this system is reference point of navigation.
The xa-axis positive is in the direction of travel; za-axis posi-
tive points along the normal of OS platform; ya -axis positive
completes a right-handed Cartesian system.
The celestial reference frame is a non-rotating coordinate
frame defined by appropriate celestial objects. The origin of
this system is the center of mass of the Earth. The xc-axis posi-
tive points to the vernal equinox at Julian epoch 2000; yc-axis
is in the equator and the zc-axis axis completes a right-handed
Cartesian system.
The terrestrial reference system is an Earth-fixed coordinate
frame, which is consistent with the WGS-84 coordinate system.
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656 October 2018 PHOTOGRAMMETRIC ENGINEERING & REMOTE SENSING