Exterior orientation parameters are used to relate the
platform to the ground coordinate system. At any time, the
exterior orientation parameters of the platform are coordinates
of the origin of the platform coordinate system (X,,Y,,Z,) and
rotational angles with respect to the ground coordinate
system. The rotation is described by a 3D rotation matrix
Mpl which is a function of the rotation angles (Moffitt
and Mikhail, 1980).