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Euler angles in latitude longitude space

  1. Jan 12, 2016 #1
    In most physics introductions Euler angles(pitch, roll, yaw) are defined with respect to Cartesian coordinate system.

    If I chose not to use a Cartersian coordinate system but instead use a latitude, longitude and a proprietary vertical coordinate(and no back transformations to Cartersian coordinate system permitted) basis vector space how would the pitch, yaw, roll Euler angles be defined ?

    What I mean by this is the following

    Initially I have a point defined in terms of λ,∅ and the vertical coordinate is defined as ζ.

    Now I rotate the axes (not the point !) to a new set of axes λ',∅',ξ'.

    I want to be able to define the Euler angles with respect to these two sets of orthonormal vectors.
    Last edited: Jan 13, 2016
  2. jcsd
  3. Jan 14, 2016 #2
    I want to correct what I wrote yesterday. When a proprietary vertical coordinate is used there is no restriction of basis vectors being orthonormal. These are basically curvilinear coordinates in which the rotations are being performed.
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