The body fixed frame’s position in the earth fixed frame can be described by the
vector = [ x y z ]T and its orientation, attitude and heading, by the vector
= [ ]T . The angles used to represent the orientation are defined
using Tait-Bryan formalism. This type of formalism differs from proper Euler
angles by using three different axes when forming the rotation [Bishop, 2007].
Within aerospace literature this representation is often referred to as Euler angles,
which may cause some confusion