Introduction

Local reference system

Fig. 13 Local Reference System

Global reference system

Fig. 14 Global Reference System showing the global Cartesian system (\(X, Y, Z\)) in black and the local reference system (\(x, y, s\)) in red after translation (\(X_i , Y_i, Z_i\)) and rotation (\(\theta_i,\phi_i, \psi_i\)). The projections of the local reference system axes onto the horizontal \(ZX\) plane of the Cartesian system are figured with blue dashed lines. The intersections of planes \(ys\), \(xy\) and \(xs\) of the local reference system with the horizontal \(ZX\) plane of the Cartesian system are figured in green dashed lines.