3

PROJECT APOLLO
COORDINATE SYSTEM
STANDARDS

NATIONAL AERONAUTICS AND SPACE ADMlNlSfRATlON

WASHINGTON. D.C. 20546
 3010-107

UNITED STATES GOVERNMENT N a t i o n a l A e r o n a u t i c s and

Space Administrat ion
Memorandum MwC MA 1461
TO : Distribut ion DATIZ: 1 Jun 1965

I FROM : Apollo Program D i r e c t o r

SUBJECT: P r o j e c t Apollo Coordinate System S t a n d a r d s ’

The document trarismitted herewith c o n t a i n s t h e approved

Coordinate System S t a n d a r d s f o r t h e Apollo Program,
The p r o v i s i o n s of M-D MB 1400 (Apollo LV a n d SC C o o r d i n a t e
Axis and N o t a t i o n System) dated June 1, 1964 a r e superseded
by t h i s document and a l l copYes shoulfJ bP d e s t r o y e d ,
The p r o v i s i o n s of M-DE 8000.006 (Mass P r o p e r t i e s S t a n d a r d )
d a t e d June 1, 1963 are c o n s i s t e n t w i t h t h i s document.
The p r o v i s i o n s o f AFMTCM 80-4 (Air Force Missile Test C e n t e r
S t a n d a r d i z e d T h e o r e t i c a l T r a j e c t o r y Magnetic Tape Format)
zre u n a f f e c t e d by t h i s document,

Distribution
MSC/R. R. G i l r u t h
MSFC/W. von B r a w l
KSC/K. H. Debus (30
MAP/Col. M. L, Seccomb
MAS/T. H. Thompson
MAT/J. H. D i s h e r
MAO/J, K. Holcornb
MAR/G. A. Lemke
MT/E. 2. Gray (5
Bellcomm/J, A. Hornbeck
MA-2/T. A. Keegan ( 2 )

Buy US’.Savings Bonds Regularly on the Pavroll Savings Plan

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I PROJECT APOLLO COORDINATE

I SYSTEM STANDARDS

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 ABSTRACT

T h i s document c o n t a i n s t h e P r o j e c t Apollo C o o r d i n a t e
System S t a n d a r d s (PACSS). It i s t h e r e s u l t o f t h e
combined e f f o r t s o f r e p r e s e n t a t i v e s from GSFC, KSC,
MSC, MSFC a n d Bellcorn. The standards are p r i m a r i l y
d e r i v e d f r o m p a s t common p r a c t i c e , p r o v i d e a h i g h
degree of u n i f o r m i t y and a r e such t h a t s t r i c t con-
formance i s t e c h n i c a l l y p r a c t i c a l .
The m a j o r i t y o f t h e Standard C o o r d i n a t e Systems are
a s s o c i a t e d w i t h t h e Earth o r Moon and have such u s e s
as s i t e l o c a t i o n , ephemerides, t r a j e c t o r y computation
and/or transmittal of t r a j e c t o r y i n f o r m a t i o n . The
remaining S t a n d a r d Coordinate Systems a r e r e f e r e n c e d t o
t h e v e h i c l e s (both o p e r a t i n g a l o n e and i n s t a c k e d con-
f i g u r a t i o n s ) o r vehicle operat ions: primarily navigation,
guidance and c o n t r o l , A d d i t i o n a l l y t h e r e a r e S t a n d a r d
R e l a t i o n s h i p s which must e x i s t among s p e c i f i c S t a n d a r d
C o o r d i n a t e Systems.
A l l of t h e P r o j e c t A p o l l o C o o r d i n a t e System S t a n d a r d s
(PACSS) a r e contained i n t h e Appendices. The t e x t
p r o v i d e s a m p l i f i c a t i o n and e x p l a n a t i o n of t h e PACSS.

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 TABLE OF CONTENTS

S e c t ion T i tle -
Page
ABSTRACT i
1. INTRODUCTION 1
2. APPROACH
2.1 General C o o r d i n a t e Systems
2.2 P r o j e c t Apollo Data
29 3 P r o j e c t Apollo D e c i s i o n s
3. DISCUSSION OF PROJECT APOLLO
COORDINATE SYSTEM STANDARDS 5
3.1 General C o o r d i n a t e Systems Applied
D i r e c t l y t o t h e Standards 5
3-2 P r o j e c t Apollo Data Applied t o t h e
St andar d s 7
3.3 P r o S e c t Apollo D e c i s i o n s Applied t o
t h e Standards 9
3.3.1 R e l a t i o n s h i p s Among C o o r d i n a t e Systems
R e l a t e d t o Apollo N a v i g a t i o n , Guidance
and C o n t r o l 10
3.3-2 R e l a t i o n s h i p s Among t h e S t r u c t u r a l
Body Axes of t h e Apollo V e h i c l e s 13
3.3.3 R e l a t i o n s h i p s Among C o o r d i n a t e
Systems Under Backup C o n d i t i o n s 15
4. SUMMARY 17
5. GLOSSARY 18
6. APPENDIX A: P r o j e c t Apollo S t a n d a r d C o o r d i n a t e
Systems
7. APPENDIX B: P r o j e c t Apollo S t a n d a r d R e l a t i o n s h i p s
m i s t i n g Among S t a n d a r d Coordiriate
Systems
8. REFERENCES
f

1. INTRODUCTION
On J u n e 1, 1964, f o l l o w i n g more t h a n a y e a r o f
i n t e r c e n t e r e f f o r t , a n OMSF d i r e c t i v e (M-D MB 1400)
was issued e s t a b l i s h i n g a s t a n d a r d v e h i c l e c o o r d i n a t e
s y s t e m f o r Apollo. A t t h e August 1964 P a n e l Review
Board m e e t i n g it was found t h a t t h e d e s i r e d s t a n d a r d i -
z a t i o n had n o t i n f a c t been accomplished by t h i s
d i r e c t i v e . A s a r e s u l t a new e f f o r t was begun i n -
v o l v i n g GSFC, KSC, MSC, MSFC and Bellcomm; t h e s c o p e
o f t h i s e f f o r t extended beyond v e h i c l e axes and
i n c l u d e d a l l c o o r d i n a t e s y s t e m s i n v o l v e d i n Apollo
i n t e r f a c e d a t a exchange. Complete involvement o f
t h e p a r t i c i p a t i n g o r g a n i z a t i o n s was s o l i c i t e d s o
t h a t t h e r e s u l t i n g s t a n d a r d s 1rrould be t h e b e s t
p o s s i b l e s e t , worthy o f u n q u a l i f i e d a d o p t i o n w i t h i n
P r o j e c t Apollo and a c c e p t a b l e t o a l l p a r t i c i p a n t s .
The r e s u l t i n g P r o j e c t Apollo C o o r d i n a t e System
S t a n d a r d s (PACSS)* a r e c o n t a i n e d i n t h i s document.
It h a s been o r g a n i z e d such t h a t a l l PACSS a p p e a r i n
t h e Appendices i n c o n c i s e l a n g u a g e s u i t e d t o l i t e r a l
interpretation. The body o f t h e text attempts t o
d e f i n e t h e approach and r e v e a l u n d e r l y i n g p a t t e r n s
among t h e c o o r d i n a t e s y s t e m s .
I n a l l a p p l i c a t i o n s t h e p a r t i c u l a r PACSS b e i n g used
must b e e x p l i c i t l y i d e n t i f i e d .

*Users of AMR must submit d a t a t o t h e Range i n a

s t a n d a r d i z e d format e s t a b l i s h e d by t h e A i r F o r c e
Missile T e s t Center and d e s c r i b e d i n R e f e r e n c e 1.
T h e s e s t a n d a r d s , which a r e o u t s i d e NASA c o n t r o l ,
d e v i a t e from t h e PACSS i n s e v e r a l i n s t a n c e s .
2. APPROACH
T h i s s e c t i o n i s devoted t o e x p l a i n i n g t h e methods
employed i n t h e development o f t h e P r o j e c t A p o l l o
C o o r d i n a t e System S t a n d a r d s (PACSS) and t h e r e b y
p r o v i d e s a means of u n d e r s t a n d i n g t h e l o g i c of t h e
approach. B a s i c a l l y a c o o r d i n a t e system p r o v i d e s
a r e f e r e n c e frame w i t h i n which a p h y s i c a l problem
i s m a t h e m a t i c a l l y formulated and/or d a t a a r e c o l l e c t e d ,
a n a l y z e d o r t r a n s m i t t e d . The c o o r d i n a t e system
chosen f o r u s e i s u s u a l l y s e l e c t e d based on t h e
r e q u i r e m e n t s of t h e s p e c i f i c problem. The Apollo
p r o j e c t may be t h o u g h t of as a c o l l e c t i o n of related
problems, each w i t h i t s own p r e f e r r e d r e f e r e n c e
frame. The purpose of t h i s document is t o e s t a b l i s h
a p r a c t i c a l minimum number of w e l l d ef ined c o o r d i n a t e
systems t o be used f o r i n t e r f a c e d a t a exchange p u r p o s e s ,
The Approach D i agram on page 3 r e p r e s e n t s t h e framework
f o r t h e development of t h e PACSS and i s e x p l a i n e d i n t h e
following subsections.
2.1 General C o o r d i n a t e Systems
P a s t p r a c t i c e provided a wealth of c o o r d i n a t e systems
from which a p p r o p r i a t e s e l e c t i o n s were made f o r stan-
d a r d i z a t i o n i n P r o j e c t Apollo. Often t h e d e f i n i t i o n s
were q u i t e e n t a n g l e d w i t h t h e s p e c i f i c f u n c t i o n a l use;
s e p a r a t i n g them r e s u l t e d i n a group o f g e n e r a l c o o r d i -
n a t e systems whioh were d e f i n e d i n a b a s i c and funda-
m e n t a l manner. A number of' t h e s e g e n e r a l c o o r d i n a t e
systems were placed d i r e c t l y i n t h e PACSS w i t h o u t e l a b o r -
a t i o n . The remaining systems i n t h e g e n e r a l grouping
r e q u i r e d f u r t h e r d e f i n i t i o n i n o r d e r to be u s e f u l .
P r o j e c t Apollo Data
C e r t a i n of t h e g e n e r a l c o o r d i n a t e systems were n o t
immediately a p p l i c a b l e t o P r o j e c t Apollo, s i m p l y
because o f t h e excessively g e n e r a l n a t u r e o f t h e i r
d e f i n i t i o n . W i t h t h e i n t r o d u c t i o n of s p e g i f i c Apollo
p h y s i c a l d a t a t h e ambiguity p r e s e n t i n many o f t h e s e
d e f i n i t i o n s was removed a n d t h e y became a c c e p t a b l e a s
Apollo Standard Coordinate Systems. However, a f e w
c o o r d i n a t e systems s t i l l r e q u l r e d a d d i t i o n a l informa-
t i o n b e f o r e t h e y became a p p l i c a b l e .

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 COOR D INATE

PROJECT APOLLO
COORDINATE SYSTEM
STANDARDS
(SECTION 3 AND A P P E N D I C E S )

APPROACH D I A G R A M

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 P r o j e c t Apollo D e c i s i o n s
Adequate d e f i n i t i o n of t h e r e m a i n i n g c o o r d i n a t e
s y s t e m s was a t t a i n e d by i n c o r p o r a t i n g i n f o r m a t i o n
c o n c e r n i n g s p e c i f i c Apollo p r o j e c t d e c i s i o n s .
G e n e r a l l y t h e s e d e c i s i o n s c o n s i s t e d o f ground
r u l e s and c o n s t r a i n t s r e l a t i n g t o t h e u s e o f t h e
S t a n d a r d Coordinate Systems. B’urthermore, by
r e c o r d i n g Standard R e l a t i o n s h i p s w h i c h must e x i s t
among c e r t a i n c o o r d i n a t e systems d u r ? i i g v a r i o u s
p h a s e s o f t h e mission, a d d i t i o n a l s t a n d a r d s were
c r e a t e d . Consequently, t h e r e i s a meaningful
d i s t i n c t i o n between a S t a n d a r d C o o r d i n a t e Svstem
- v

and a P r o j e c t Apollo C o o r d i n a t e System S t a n d a r d

(PACSS); t h e l a t t e r i s t h e g -eneral categ -o r y- and
i n c l u d e s t h e former.

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3. DISCUSSION OF PROJECT APOLLO COORDINATE SYSTEM
STANDARDS
T h e complete s e t of P r o j e c t Apollo C o o r d i n a t e
System S t a n d a r d s are c o n t a i n e d i n t h e Appendices.
The d i s c u s s i o n i n t h i s s e c t i o n i s keyed t o t h e
Approach Diagram (page 3 ) and p r e s e n t s a d d i t i o n a l
informat ion concerning t h e s e c o o r d i n a t e system
s t a n d a r d s . The Appendices c o n s i s t a l m o s t e n t i r e l y
of figures, g e n e r a l l y one s t a n d a r d p e r f i g u r e .
F i g u r e s A - 1 through A-13 i n Appendix A d e f i n e
P r o j e c t Apollo S t a n d a r d C o o r d i n a t e Systems.
F i g u r e s B-1 through B-3 i n Appendix B d e f i n e
S t a n d a r d R e l a t i o n s h i p s among two or more S t a n d a r d
C o o r d i n a t e Systems; i n e a c h o f t h e s e c a s e s t h e
r e l a t i o n s h i p i t s e l f is an Apollo Standarcl. I n
t h e following discussion frequent reference w i l l
b e made t o t h e s e f i g u r e s .
A t a b u l a t i o n o f t h e g e n e r a l c o o r d i n a t e systems t o
b e a p p l i e d t o P r o j e c t Apollo i s p r e s e n t e d i n Table
I, page 6. These systems have been s u b d i v i d e d for
convenience a c c o r d i n g t o w h e t h e r t h e y are r o t a t i n g
or n o n - r o t a t i n g with r e s p e c t to s p a c e - d i r e c t i o n
f i x e d axes and a c c o r d i n g to t h e body to which t h e y
a r e r e f e r e n c e d , i . e . , E a r t h , Moon, or v e h i c l e ,
T a b l e I c o n t a i n s o n l y t h e s t a n d a r d i z e d names o f
t h e c o o r d i n a t e systems and i s i n t r o d u c e d h e r e t o
establish perspective.

3.1 G e n e r a l C o o r d i n a t e Systems Applied D i r e c t l y t o

t h e Standards
There a r e a number o f t h e g e n e r a l c o o r d i n a t e
s y s t e m s shown i n Table I which can b e a p p l i e d
d i r e c t l y t o P r o j e c t Apollo w i t h o u t f u r t h e r i n f o r -
mation o r m o d i f i c a t i o n , s p e c i f i c a l l y :

Geographic P o l a r F i g u r e A-1
Selenographic Polar Figure A-2
d

Radar F i g u r e A-3
(a through d )

Geocentric Inertial F i g u r e A-4

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: 3 8 V W 3 1 S A S 3 1 V N l a l l 0 0 3 3 H l JO S 3 X V 3 H l

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 Impact P r e d i c t i o n Quasi- F i g u r e A-5
Inert ial

Earth-Moon P l a n e F i g u r e A-6
Orb i t a 1 Elements F i g u r e A-7

rt i s i n t e r e s t i n g t o note t h a t a l l of these
systems are e i t h e r E a r t h o r Moon Referenced.
$he remaining systems l i s t e d i n Table I r e q u i r e
a d d i t i o n a l p r o j e c t i n f o r m a t i o n i n o r d e r t o become
well-defined standards.

3.2 P r o j e c t A p o l l o Data A p p l i e d t o t h e v t w d a r 4 s
The d e f i n i t i o n s of t h e S t a n d a r d C o o r d l n a t e Systems
i n t r o d u c e d i n t h i s s e c t i o n a r e completed by t h e
a p p l i c a t i o n of s p e c i f i c A p o l l o d a t a to t h e r o t a t i n g
v e h i c l e r e f e r e n c e d c a o r d i n a t e systems of Table I
which a r e o t h e r w i s e ambigdous.
The general s t a n d d r d f o r t h e S t r u c t u r a l Body
Axes* system ( F i g u r e 1, page 8) o n l y s p e c i f i e s
t h a t t h e X a x i s l i e s albng t h e v e h i c l e l o n g i t u d i n a l
axis, t h e o r i g i n is l o c a t e d w i t h r e s p e c t t o a
r e f e r e n c e p o i n t on t h e I o n i t u d i n a l a x i s and t h e
f
2 axis i s d e f i n e d by a Veh c l e benchmark. Thus,
i n o r d e r t o o b t a i n e a 6 h ' s p e c i f i c P r o j e c t Apollo
s t a n d a r d it was necesgaky t o d e f i n e t h e hardware-
related o r i g i n o f t h e system and t h e a p p r o p r i a t e
benchmark d e f i n i n g t h e pos t i v e Z a x i s f o r each
i
of t h e Apollo v e h i c l e s . T e S t r u c t u r a l Body Axes
systems f o r t h e A p o l l o v e h l x l e s are:
A. Launch V e h i c l e s
1. S a t u r n I and I B ( F i g u r e A-sa).
The o r i g i n i s l o c a t e d on t h e l o n g i t u d b a l
a x i s 100 i n c h e s below t h e gimbal r e f e r e n c e
plane. Position I ( a l t e r n a t i v e l y , f i n I)
defines t h e positive Z direction.

*The Dynamical Body Axes system f o r any c o n f i g u r a t i o n

i s o b t a i n e d by a p u r e t r a n s l a t i o n of t h e a p p r o p r i a t e
S t r u c t u r a l Body Axes system t o t h e i n s t a n t a n e o u s c e n t e r
of mass of t h a t c o n f i g u r a t i o n ( s e e S e c t i o n 3 . 3 . 2 ) .

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 i

O R 10

TYPE: Rotating, vehicle referenced

ORIGIN: Located on the vehicle's longitudinal axis a n d
defined with respect to a specified refer:: c 3
point, which is fixed relative to the velL?.cle
structure.

ORIENTATION AND LABELING

The X axis lies along the longitudinal axis of
the vehicle, positive in the nominal direction
of positive thrust acceleration.
The Z axis is perpendicular to the X axis
lies in the plane defined by the X axis and c^
specified vehicle benchmark, positive toward the
benchmark. a

The Y axis completes a standard right-handed

system.
The Dynamical Body Axes system is defined as a
pure translation of the Structural Body Axes
system to the instantaneous vehicle center of
gravity.

Figure 1 S?Ru'tTURAL BODY AXES (Dynamical Body Axes)

 2. S a t u r n V ( F i g u r e A-8b).
The o r i g i n is l o c a t e d on t h e l o n g i t u d i n a l
axis 100 i n c h e s b e l o w t h e gimbal r e f e r e n c e
plane. Position I defines t h e positive Z axis.
B. Command and S e r v i c e Module ( F i g u r e A-8c)
The o r i g i n is l o c a t e d on t h e l o n g i t u d i n a l
axis 1000 i n c h e s below t h e mold l i n e o f t h e
CSM h e a t s h i e l d main s t r u c t u r e a b l a t o r i n t e r -

7
f a c e . The benchmark d e f i n i n t h e p o s i t i v e Z
axis i s an alignment t a r g e t l a b e l e d +Z) a t
t h e t o p of t h e s e r v i c e module.

C. Lunar E x c u r s i o n Module ( F i g u r e A-8d)

The o r i g i n i s l o c a t e d 200 i n c h e s below t h e LEM
Ascent s t a g e base. The p o s i t i v e Z axls i s n o t
d e f i n e d by a p h y s i c a l benchmark; however, t h e
c e n t e r o f t h e LEM e x i t h a t c h s e r v e s as a r e f e r e n c e
benchmark. Thus t h e p o s i t i v e Z axis is p a r a l l e l
t o t h e c e n t e r l i n e of t h e e x i t h a t c h .
The Mass P r o p e r t i e s system ( F i g u r e A-g), i n which
t h e mass c h a r a c t e r i s t i c s o f t h e s p a c e v e h i c l e and
i t s s y s t e m s , subsystems and components a r e d e s c r i b e d ,
i s c o n s i s t e n t i n axes o r i e n t a t i o n and l a b e l i n g w i t h
t h e CSM S t r u c t u r a l Body A x e s . The o r i g i n o f t h i S
system i s n o t s p e c i f i e d uniquely; t h u s , f o r i n t e r -
change o f m a s s p r o p e r t y d a t a , i t i s e s s e n t i a l t h a t
t h e o r i g i n be e x p l i c i t l y s t a t e d . *

3.3 P r o - i e c t A ~ o l l oD e c i s i o n s A m l i e d to t h e S t a n d a r d s
T h i s s e c t i o n is p r i m a r i l y concerned w i t h t h e d e s c r i p -
t i o n and/or s p e c i f i c a t i o n o f S t a n d a r d R e l a t i o n s h i p s
which e x i s t among various members o f t h e Apollo
S t a n d a r d C o o r d i n a t e Systems. I n t h e development of
t h e s e S t a n d a r d R e l a t i o n s h i p s , w h i c h a r i s e from b a s i c
p r o j e c t d e c i s i o n s , t h e f o u r g e n e r a l c o o r d i n a t e systems
r e m a i n i n g i n T a b l e I are i n t r o d u c e d and d e f i f i e d .

*The o r i g i n f o r CSM and LEM mass d a t a i s t h e same

as f o r t h e CSM S t r u c t u r a l Body Axes. T h e o r i g i n
for t h e l a u n c h v e h i c l e i s t h e same as f o r t h e launch
v e h i c l e S t r u c t u r a l Body Axes.

- 9 -
3.3.1 R e l a t i o n s h i p s Among C o o r d i n a t e Systems Related
to Apollo N a v i g a t i o n , Guidance and C o n t r o l
S e v e r a l i n t e r r e l a t i o n s h i p s e x i s t among t h e c o o r d i n a t e
systems i n v o l v e d i n t h e n a v i g a t i o n , g u i d a n c e and
c o n t r o l f u n c t i o n s ; t h e s e i n t e r r e l a t i o n s h i p s are
b a s i c a l l y t h e same f o r t h e Launch V e h i c l e , CSM, CM
and LEM. The Dynamical Body Axes, P l a t f o r m - A c c e l e r o -
meter and N a v i g a t i o n c o o r d i n a t e systems are common
t o a l l powered f l i g h t phases and t h e s e are d i s c u s s e d
f i r s t . S e v e r a l a d d i t i o n a l s y s t e m s which a p p l y o n l y
d u r i n g t h e l a u n c h phase a r e t r e a t e d l a t e r .
The Dynamical Body Axes system o f a p a r t i c u l a r
v e h i c l e i s always t r a n s 1 a t a b l - W ? tli i.ts S t r u c t u r a l
Body Axes system. C o n s i s t e n t 'me o f t h e s t a n d a r d
axes d e s i g n a t i o n s r e s u l t s i n a I I n o r m a l l y e x p e c t e d ' '
o r i e n t a t i o n of t h e v e h i c l e w i t h r e s p e c t to t h e
f l i g h t path. For example, i n t h e Launch V e h i c l e
a n d CSM t h e a x e s commonly termed p i t c h * , roll and
yaw are i d e n t i c a l w i t h t h e y , x and z d i r e c t i o n s ,
r e s p e c t i v e l y . T h i s i s n o t s o i n t h e LEM b e c a u s e
t h e p i t c h , roll and yaw d e s i g n a t i o n s ( y , z , x,
r e s p e c t i v e l y ) have been a s s i g n e d i n a manner w h i c h
is c o n s i s t e n t w i t h astronaut o r i e n t a t i o n rather
t h a n one w h i c h i s c o n s i s t e n t w i t h common v e h i c l e
practice.
The Platform-Accelerometer s y s t e m i s used for v e h i c l e
a t t i t u d e r e f e r e n c e and to d e f i n e t h e o r i e n t a t i o n o f
t h e a c c e l e r o m e t e r s . The o r i e n t a t i o n o f t h e P l a t f o r m -
A c c e l e r o m e t e r system i s d e t e r m i n e d a t t h e t i m e o f
e r e c t i o n of t h e platform. G i m b a l angles r e l a t e t h e
p o s i t i o n o f t h e Dynamical Body Axes to t h i s space-
d i r e c t i o n f i x e d system.
The N a v i g a t i o n s y s t e m has i t s o r i g i n c e n t e r e d i n a
s p e c i f i e d ( u s u a l l y t h e dominant) c e n t r a l body a n d i s
t r a n s l a t a b l e w i t h t h e P l a t f o r m - A c c e l e r o m e t e r system
f o r c o m p u t a t i o n a l convenience. S p e c i f i c o p e r a t i o n a l
o r i e n t a t i o n s f o r t h e Platform-Accelerometer a r d Navi-
g a t i o n c o o r d i n a t e systems w i l l v a r y t h r o u g h o u t t h e
M i s sion.

*Because o f t h e i n c o n s i s t e n t d e f i n i t i o n s o f p i t c h , roll
and yaw w i t h r e s p e c t t o t h e x, y and z Body Axes systems,
it i s recommended t h a t t h e s e terms n o t be depended upon
to d e f i n e d i r e c t i o n s of v e h i c l e o r p l a t f o r m axes.

- 10 -
The Dynamical Body Axes, P l a t f o r m - A c c e l e r o m e t e r
and N a v i g a t i o n s y s t e m s have i n t e r r e l a t e d r o l e s
d u r i n g powered f l i g h t . The rules f o r t h e o p e r a -
t i o n a l u s e of these systems are g e n e r a l l y s u c h
as t o keep them a l l as n e a r l y i n a l i g n m e n t as
p o s s i b l e d u r i n g any powered f l i g h t i n t e r v a l . A
t y p i c a l r e l a t i v e alignment o f t h e s e t h r e e s y s t e m s
is shown f o r t h e s p a c e c r a f t i n F i g u r e 2 ( p a g e 1 2 ) ,
where t h e c e n t r a l body p i c t u r e d is t h e Moon. The
Platform-Accelerometer system is a l i g n e d w i t h t h e
X axis i n t h e g e n e r a l d i r e c t i o n o f p o s i t i v e thrust
( t y p i c a l l y t h i s may be e i t h e r t h e i n i t i a l o r a v e r a g e
t h r u s t d i r e c t i o n f o r t h e b u r n ) . The Y axis d i r e c -
t i o n is d e f i n e d by t h e v e c t o r c r o s s p r o d u c t o f t h e
p o s i t i v e X axis i n t o t h e v e h i c l e p o s i t i o n v e c t o r ;
t h e 2 a x i s completes a s t a n d a r d r i g h t handed system.
The r e l a t i v e a l i g n m e n t o f these t h r e e systems i s
b a s i c a l l y t h e same f o r t h e l a u n c h v e h i c l e as for
t h e s p a c e c r a f t . However, t h e P l a t f o r m - A c c e l e r o m e t e r
Y axis becomes ill d e f i n e d f o r t h e E a r t h l a u n c h
s i n c e t h e t h r u s t v e c t o r ( X a x i s ) and t h e p o s i t i o n
v e c t o r are n e a r l y c o l i n e a r . T h e r e f o r e , a t l a u n c h
t h e P l a t f o r m - A c c e l e r o m e t e r axes are d e f i n e d w i t h
t h e X axis a l o n g t h e l o c a l r e f e r e n c e e l l i p s o i d
normal*, p o s i t i v e outward and t h e Z a x i s i n t h e
p l a n e d e f i n e d by t h e X a x i s and a i m i n g a z i m u t h ,
p o s i t i v e down r a n g e .
S i m i l a r l y , when l a u n c h i n g f r o m t h e Moon t h e LEM
Platform-Accelerometer system is a l i g n e d w i t h t h e
X a x i s a l o n g a r e f e r e n c e v e r t i c a l and t h e Z axis
i n t h e d i r e c t i o n o f t h e aiming azimuth.
For t h e l a u n c h phase, c o n d i t i o n s are s u f f i c i e n t l y
i n v a r i a n t from m i s s i o n t o m i s s i o n t h a t s p e c i f i c
s t a n d a r d s can be d e f i n e d . The f o l l o w i n g f o u r
S t a n d a r d C o o r d i n a t e Systems are a s s o c i a t e d w i t h
l a u n c h v e h i c l e n a v i g a t i o n , g u i d a n c e and c o n t r o l .
E a r t h - F i x e d Launch S i t e Figure A - 1 0
-a
E a r t h - C e n t e r e d Launch
Derived Figure A - 1 1
Launch V e h i c l e P l a t f o r m -
Accelerometer Figure A - 1 2
Launch V e h i c l e N a v i g a t i o n Figure A - 1 3

*The r e f e r e n c e e l l i p s o i d i s chosen t o b e s t f i t t h e
geoid o r some p o r t i o n o f it; t h e A p o l l o s t a n d a r d
i s t h e 1960 F i s c h e r e l l i p s o i d .

- 11 -
 Z

' MOON

X
Z

DYNAMICAL BODY AXES

PLATFORM - ACCELEROMETER

MOTE: COORGINATE SYSTEMS WHICH ARE

TRANSLATABLE HAVE BEEN DRAWN
WITH A SOLID L I N E .
s-

FIGURE 2 R E L A T I O N S H I P S O F S P A C E C R A F T D Y N A M I C A L BODY A X E S , PLATFORM-

A C C E L E R O M E T E R AND N A V I G A T I O N C O O R D I N A T E S Y S T E M S
( S I M P L I F I E D PLANAR V I E W )

- 12 -
 The E a r t h - F i x e d Launch S i t e s y s t e m i s r o t a t i n g
w i t h t h e E a r t h and o r i e n t e d i n t h e d i r e c t i o n o f
l a u n c h . It is e x p r e s s e d i n t e r m s o f t h e r e f e r e n c e
e l l i p s o i d a n d r e q u i r e s an e x a c t s p e c i f i c a t i o n o f
b o t h t h e l a u n c h s i t e l o c a t i o n and t h e aiming azimuth
f o r t h e t r a j e c t o r y . T h i s s y s t e m leads t o t h e d e f i n i -
t i o n of t h e Launch V e h i c l e P l a t f o r m - A c c e l e r o m e t e r
system a t g u i d a n c e r e f e r e n c e release t i m e when t h e
g y r o s a r e uncaged and t h e s t a b l e p l a t f o r m becomes
s p a c e - d i r e c t i o n f i x e d . The E a r t h - C e n t e r e d Launch
D e r i v e d system i s d e f i n e d t o b e t r a n s l a t a b l e a t
a l l times w i t h t h e Earth-Fixed Launch S i t e system.
The Launch V e h i c l e N a v i g a t i o n s y s t e m i s i n t u r n
d e f i n e d to b e i d e n t i c a l to t h e E a r t h - C e n t e r e d Launch
Derived system a t guidance r e f e r e n c e release time.
Thus, two r o t a t i n g systems, t h e E a r t h - F i x e d Launch
S i t e and t h e Earth-Centered Launch D e r i v e d , g i v e
r i s e t o two n o n - r o t a t i n g s y s t e m s , t h e Launch V e h i c l e
P l a t f o r m - A c c e l e r o m e t e r and t h e Launch V e h i c l e Navi-
g a t i o n a t g u i d a n c e r e f e r e n c e release t i m e . A typical
r e l a t i v e a l i g n m e n t of t h e systems i n t h i s c a t e g o r y i s
shown i n F i g u r e 3 (page 1 4 ) .
3.3.2 R e l a t i o n s h i p s Among t h e S t r u c t u r a l Body Axes o f t h e
An0110 V e h i c l e s
The S t r u c t u r a l Body Axes s y s t e m s as a s s i g n e d i n
s e c t i o n 3.2 e x h i b i t a common p r o p e r t y , which i s
i l l u s t r a t e d i n F i g u r e B-l*. Here t h e t h r e e Apo1l.o
v e h i c l e s a r e shown s i d e by s i d e , e a c h i n i t s p r e -
f e r r e d powered f l i g h t a t t i t u d e . Each v e h i c l e , i f
o p e r a t i n g i n d e p e n d e n t l y , would choose t h i s o r i e x a t i o n
to l i f t o f f and proceed down range i n t h e p o s i t i v e Z
d i r e c t i o n . T h i s Standard R e l a t i o n s h i p results from
p r e v i o u s common p r a c t i c e , i n c l u d i n g p i l o t o r i e n t a t i o n
with r e s p e c t t o t h e f l i g h t path (see Reference 3 ) .
There are two s e p a r a t e mult i - v e h i c l e c o n f i g u r a t i o n s
i n P r o j e c t Apollo. The f i r s t o c c u r r e n c e i s a t E a r t h
l a u n c h , where t h e Standard R e l a t i o n s h i p between t h e
S t r u c t u r a l Body Axes o f t h e t h r e e v e h i c l e s i s as shown
i n F i g u r e B-2*.

*The S t r u c t u r a l Body Axes are t h e s u b j e c t s of d i s c u s s i o n ;

however, to p r e s e r v e c l a r i t y , t h e Dynamical Body Axes
a r e p i c t u r e d i n t h i s f i g u r e . The S t r u c t u r a l and Dynamical
Body Axes a r e t r a n s l a t a b l e .

- 13 -
 X
PLATFORM-ACCELEROMETER

D Y N A M I C A L BODY
AXES

NAVIGATION

EARTH-CENTERED
LAUNCH D E R I V E D

NOTE: T H E AXES O R I E N T A T I O N O F T H E
PLATFORM-ACCELEROMETER AND
NAVIGATION SYSTEMS ARE
DEFINED BY THE EARTH-FIXED
LAUNCH S I T E AND E A R T H - C E N T E R E D
LAUNCH D E R I V E D SYSTEMS A T
GUIDANCE REFERENCE RELEASE
TIME.

COORDINATE SYSTEMS WHICH ARE

T R A N S L A T A B L E A R E DRAWN W I T H T H E
S A M E T Y P E L I N E ( S O L I D OR D A S H E D ) .

FIGURE 3 EARTH LAUNCH RELATED COORDINATE SYSTEMS

( P I C T U R E D FOR A L A U N C H FROM T H E E Q U A T O R I N T O AN E Q U A T O R I A L O R B I T )

- 14 -
 The second i s t h e normal docked c o n f i g u r a t i o n o f
t h e CSM/LEM s p a c e c r a f t . The assignment of t h e
S t r u c t u r a l Body Axes f o r e a c h i n d i v i d u a l v e h i c l e
i s independent of i t s p o s i t i o n i n either of t h e
s t a c k e d c o n f i g u r a t i o n s . The i m p l i c i t d e c i s i o n
i s t h a t t h e s t a n d a r d i z a t i o n of c o o r d i n a t e s y s t e m s
f o r t h e i n d i v i d u a l v e h i c l e s is b a s i c a l l y more
i m p o r t a n t t h a n h a v i n g a l l c o o r d i n a t e systems
t r a n s l a t a b l e e i t h e r a t launch or i n t h e docked
configuration*. This i s equivalent t o t r e a t i n g
t h e i n a c t i v e v e h i c l e s as an i n e r t p a y l o a d .
A S t r u c t u r a l Body Axes c o o r d i n a t e s y s t e m can be
d e f i n e d f o r e a c h m u l t i - v e h i c l e s t a c k . The S t a n d a r d
Relationship defining t h i s coordinate system requires
t h a t it b e i d e n t i c a l w i t h t h e S t r u c t u r a l Body Axes
s y s t e m of t h e p r i m a r y o r t h r u s t i n g v e h i c l e . Thus
t h e s p a c e v e h i c l e S t r u c t u r a l Body Axes s y s t e m shown
i n Figure B-3 i s t h e same as t h a t o f t h e l a u n c h
vehicle. For a multi-vehicle configuration, t h e
o r i g i n o f t h e Dynamical Body Axes i s l o c a t e d a t t h e
c e n t e r o f mass o f t h e c o n f i g u r a t i o n and n o t a t t h e
c e n t e r o f mass of t h e p r i m a r y ( t h r u s t i n g ) v e h i c l e .
303.3 R e l a t i o n s h i p s Among C o o r d i n a t e Systems Under Backup
Conditions
The p a t t e r n of t h e PACSS i s s u c h as t o keep the
s e p a r a t e v e h i c l e s autonomous and t h e c o o r d i n a t e systems
c o n s i s t e n t from v e h i c l e t o v e h i c l e . It i s t h u s n e c e s s a r y
to c a r e f u l l y d e f i n e t h e a p p r o p r i a t e c o o r d i n a t e s y s t e m s
to be used when a m u l t i - v e h i c l e c o n f i g u r a t i o n e x i s t s .
For t h e S t r u c t u r a l Body Axes s y s t e m s it has a l r e a d y
been s t a t e d In s e c t i o n 3.3.2 t h a t t h e c o o r d i n a t e s y s t e m
f o r any s t a c k s h a l l b e t h a t o f t h e p r i m a r y or t h r u s t i n g
v e h i c l e , a l l other vehicles being considered i n e r t .
I n c a s e s where backup guidance must be r e a d y t o t a k e
o v e r a t any time, s p e c i f i c ground r u l e s a r e n e c e s s a r y .
The f o l l o w i n g s i m p l e r u l e s p r o v i d e c o n s i s t e n t r e l a t i o n s
among t h e c o o r d i n a t e systems u n d e r backup g u i d a n c e
situations. et

*It s h o u l d be n o t e d that t h e i n d i v i d u a l v e h i c l e c o o r d i n a t e
systems c o u l d n o t h a v e been a s s i g n e d i n any way t h a t
would a l l o w them to b e t r a n s l a t a b l e for b o t h s t a c k e d
configurations.

- 15 -
The backup Platform-Accelerometer c o o r d i n a t e
system s h a l l be translatable w i t h t h a t o f
t h e primary.

The Dynamical Body Axes o f t h e p r i m a r y ( t h r u s t i n g )

v e h i c l e s h a l l always be used, 1 . e . s t e e r i n g
commands s h a l l T Z T & . n s m i t t e d i n t h e c o o r d i n a t e
s y s t e m o f t h e primary v e h i c l e regardless of t h e
source.

- 16 -
4. SUMMARY
The P r o j e c t Apollo C o o r d i n a t e System S t a n d a r d s
c o n s i s t of t h e following k i n d s of information:
d e f i n i t i o n o f S t a n d a r d C o o r d i n a t e Systems
c o n s i s t i n g of
a. a d e s c r i p t i v e name
b. p o s i t i o n of t h e o r i g i n
c. o r i e n t a t i o n , p o s i t i v e d i r e c t i o n and
l a b e l i n g of t h e axes
d. a t i m e derivative notation
d e f i n i t i o n of Standard R e l a t i o n s h i p s e x i s t i n g
among S t a n d a r d C o o r d i n a t e Systems
A l l PACSS are contained i n t h e Appendices; i n g e n e r a l ,
one s t a n d a r d p e r p a e. T h e r e a r e t w e l v e S t a n d a r d
7
C o o r d i n a t e Systems F i g u r e s A - 1 t h r o u g h A-7 and A - 1 0
and A - 1 1 ) r e f e r e n c e d to t h e E a r t h or Moon and g e n e r a l l y
a p p l i c a b l e i n d e f i n i n g p o s i t i o n s and/or v e l o c i t i e s of
s i t e s , v e h i c l e s a n d o t h e r b o d i e s . Seven S t a n d a r d
C o o r d i n a t e Systems ( F i g u r e s A-8 and A - 9 and A-12 and
A-13) a r e r e l a t e d to t h e s p e c i f i c v e h i c l e s and v e h i c l e
dynamics i n c l u d i n g n a v i g a t i o n , g u i d a n c e and c o n t r o l .
The s t a n d a r d i z a t i o n of r e l a t i o n s h i p s ( F i g u r e s B-1
t h r o u g h B-3) i s p r i m a r i l y among s y s t e m s i n t h i s l a t t e r
group.
The most i m p o r t a n t u n d e r l y i n g p a t t e r n i n t h e s t a n d a r d s
i s t h e use of t h e same b a s i c c o o r d i n a t e s y s t e m d e f i n i -
t i o n s for e a c h v e h i c l e i n c l u d i n g i t s n a v i g a t i o n , g u i d a n c e
and c o n t r o l . M u l t i - v e h i c l e and/or backup s i t u a t i o n s are
controlled through the d e f i n i t i o n of Standard Relation-
s h i p s among t h e c o o r d i n a t e s y s t e m s a s s o c i a t e d w i t h t h e
i n d i v i d u a l v e h i c l e s . P r a c t i c a l c o n t r o l o f 311 s u c h
s i t u a t i o n s i s n o t p o s s i b l e by s t a n d a r d i z a t i o n a l o n e
and t h u s normal p r a c t i c e s h o u l d i n c l u d e i d e n t i f i c a t i o n
of t h e s t a n d a r d c o o r d i n a t e s y s t e m b e i n g used and/or
configuration sketches.

- 1'7 -
I
I
I GLOSSARY
REFERENCE ELLIPSOID is an e l l i p s o i d chosen t o b e s t
I f i t t h e g e o i d or some p o r t i o n o f it. For t h e
E a r t h , an o b l a t e s p h e r i o d i s n o r m a l l y u s e d . The
Apollo standarci i s t h e 1960 F i s c h e r e l l i p s o i d .
I Nore d e t a i l e d i i i jrmatiori i s a v a i l a b l e i n R e f e r e n c e
'3
L .

I REFERENCED, as u s e d i n d e s c r i b i n g a c o o r d i n a t e system,
i r i d i c a t e s t h e body w i k i ] which t h e o r i g i n o f t h e
s y s t e m i s a s s o c i a t e d . T h i s t e r m i n o l o g y i s used i n
p r e f e r e n c e t o t h e word 11 f i x e d ' ' which c o n n o t e s a
I r i g i d attac5ment of t h e coordinate system t o t h e
a s s o c i a t e d body. For example, t h e Geographic Polar
system d e f i n e d w i t h respeck to t h e p r i m e m e r i d i a n
I ana t h e e q u a t o r i a l p l a n e i s r i g i d l y ' ' f i x e d " i n t h e
E a r t h ; whereas , t h e G e o c e n t r i c I n e r t i a l s y s t e m de-
f i n e d w i t h r e s p e c t t o t h e v e r n a l e q u i n o x and t h e
e q u a t o r i a l p l a n e is n o t ' ' f i x e d " I n t h e E a r t h b u t
I is referenced t o it.
ROTATING i s used to i n d i c a t e c o o r d i n a t e s y s t e m s
I whose axes e x h i b i t a n g u l a r motion w i t h r e s p e c t to
s p a c e f i x e d d i r e c t i o n s . There a r e no c o n s t r a i n t s
on t h e m o t i o n o f t h e o r i g i n o f s u c h a system.
I NON-ROTATING i s used t o i n d i c a t e c o o r d i n a t e s y s t e m s
whose a x e s e x h i b i t no a n g u l a r motion w i t h r e s p e c t
t o s p a c e f i x e d d i r e c t i o n s . However, t h e r e are no
I c o n s t r a i n t s on t h e motion o f t h e o r i g i n o f s u c h a
system.

I TRANSLATABLE c o o r d i n a t e s y s t e m s have t h e p r o p e r t y
t h a t s i m i l a r l y l a b e l e d axes a r e p a r a l l e l and have
t h e same pos it i v e d i r e c t i o n s .

I
I
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I
I - 18 -

I
I
I
6. APPENDIX A
I p r o j e c t Apollo Standard C o o r d i n a t e Systems
T h i s Appendix c o n t a i n s t h e f i g u r e s d e p i c t i n g
I t h e nineteen Standard C o o r d i n a t e Systems. In
t h e use of t h e s e standards, t h e d o t c o n v e n t i o n
f o r i n d i c a t i n g time d e r i v a t i v e s shall b e a d h e r e d
I t o when a p p r o p r i a t e .

I
I
I
I
I
I
I
I
I
I
I
I
I
I
 LIST OF PROJECT APOLLO STANDARD
COORDINATE SYSTEMS

Figure Title
A- 1 Geographic P o l a r
A-2 Selenographic P o l a r
A-3a R a d a r (AZ-EL)
A-3b R a d a r (HA-DEC)
A-3c R a d a r (X-Y 30 f t . )
A-3d R a d a r (X-Y 85 f t . )
A-4 Geocentric I n e r t i a l
A- 5 Impact P r e d i c t i o n Q u a s i - I n e r t i a l
A-6 Earth-Moon P l a n e
A-7 O r b i t a l Elements
A-8a S a t u r n I and I B Launch V e h i c l e
S t r u c t u r a l Body Axes
A-8b S a t u r n V Launch V e h i c l e S t r u c t u r a l
Body Axes
A-8c CSM S t r u c t u r a l Body Axes
A-8d L E M S t r u c t u r a l Body Axes
A-9 Mass P r o p e r t i e s
A- 10 Earth-Fixed Launch S i t e
A-11 Earth-Centered Launch Derived
A- 12 Launch V e h i c l e Platform-Accelerometer
A- 13 Launch V e h i c l e N a v i g a t i o n
I
I STANDARD COORDINATE SYSTEM 1
GEOGRAPHIC POLAR

D
I
I
1 TO

I TRUE

I
I
TYPE: R o t a t i n g , Earth referenced

I ORIGIN: The c e n t e r of t h e Earth

ORIENTATION AND LABELING:

I A i s t h e l o n g i r u o r measured p o s i t i v e castward from t h e prime

(Greenwich) meridian t o t h e meridian c o n t a i n i n g t h e p o i n t of
interest.
6 is t h e g e o c e n t r i c d e c l i n a t i o n ( a n g l e between t h e g e o c e n t r i c

I r a d i u s v e c t o r and the t r u e e q u a t o r i a l p l a n e ) measured p o s i t i v e

n o r t h and n e g a t i v e south of t h e t r u e e q u a t o r i a l plane.
The g e o d e t i c l a t i t u d e 0 is t h e a n g l e defined by t h e i n t e r -
s e c t i o n o f t h e r e f e r e n c e e l l i p s o i d normal through t h e p o i n t of
i n t e r e s t and t h e true e q u a t o r i a l plane, p o s i t i v e n o r t h and

I n e g a t i v e south of the t r u e e q u a t o r i a l plane.

The g e o c e n t r i c l a t i t u d e 0 i s t h e a n g l e between t h e t r u e equa-
t o r i a l p l a n e and the r a d i u s v e c t o r t o t h e p o i n t of i n t e r s e c t i o r .
of t h e r e f e r 5 n c e e l l i p s o i d and t h e r e f e r e n c e e l l i p s o i d normal

I
p a s s i n g throiipn t h e p o i n t of i n t e r e s t , measured p o s i t i v e n o r t h
and n e g a t i v e s n u t h o f t h e t r u e e q u a t o r i a l plane.
The a l t i t u d e t: i s the p e r p e n d i c u l a r d j s t a n c e from t h e refpTence
e l l i p s o i d t o t h e point of i n t e r e s t .

I R i s t h e maFrltude o f t h e g e o c e n t r i c r a d i u s v e c t o r t o t h e p o i n t
of i n t e r e s t .
V i s t h e magT.,ltude o f t h e v e l o c i t y ( i n e r t i a l o r Earth-fixed)
of t h e v e h i c l e .

I (Ii s t h e aziinutn from n o r t h of t h e v e l o c i t y v e c t o r p r o j e c t e d

on a p l a n e normal t c t h e g e o c e n t r i c r a d i u s v e c t o r t o t h e v e h i c l e .
Y i s t h e f l i g h t path a n g l e measui.ed p o s i t i v e upward t o t h e
v e l o c i t y v e c t o r from t h e plane normal t o t h e g e o c e n t r i c r a d i u s

I vector.
S u b s c r i p t s a r e used t o d i s t i n g u i s h between t h e Earth-fixed and
t h e i n e r t i a l q u a n t i t i e s . S p e c i f i c a l l y VE, g J E and YE d e f i n e t h e
Earth-fixed v e l o c i t y and VI, bI and YI d e f i n e t h e i n e r t i a l v e l o c i t y ,

I
FIGURE A-I
I
 STANDARD COORDINATE SYSTEM 2
SELENOGRAPHI C POLAR

.1
HOOW'S T R U E A X 1 9 OF R O T A T I O N

PRIME MERIDIAN P O I N T OF I N T E R E S T

MARE
SERENITATIS

MARE C R l S l U M

MEAN CENTER OF
T H E APPARENT
DISK

TYPE: Rotating, Moon r e f e r e n c e d

ORIGIN: The c e n t e r of t h e Moon

ORIENTATION AND LABELING:

The prime meridian p a s s e s through t h e mean c e n t e r

of t h e apparent d i s k , which i s t h e 0' l a t i t u d e , 0'
l o n g i t u d e point.
The l a t i t u d e 0 is t h e a n g l e defined b y t h e i n t e r -
s e c t i o n of the s e l e n o c e n t r i c r a d i u s v e c t o r t o t h e
p o i n t of i n t e r e s t and t h e t r u e lunar e q u a t o r i a l plane,
p o s i t i v e north (toward Mare S e r e n i t a t i s ) and n e g a t i v e
south of t h e t r u e l u n a r equator.
The longitudeA i s t h e a n g l e measured along t h e
e q u a t o r i a l a r c from t h e prime meridian t o t h e
meridian containing t h e p o i n t of I n t e r e s t , p o s i t i v e
eastward ( toward Mare Cris ium) .
R i s t h e radial d i s t a n c e from t h e s e l e n o c e n t e r t o
t h e p o i n t of i n t e r e s t .

FIGURE A-2
 STANDARD COORDINATE SYSTEM 3a

RADAR (AZ-EL)

E A R T H ' S TRUE
ROTATIONAL AXIS

ELL1PSOlD NORMAL

RADAR S I T E

h U'

PLANE

TYPE: Rotating, Earth referenced

ORIGIN: The i n t e r s e c t i o n of t h e radar a x e s

ORIENTATION AND LABELING: rtr

The radar s i t e t a n g e n t p l a n e c o n t a i n s t h e s i t e a n d
is p e r p e n d i c u l a r t o t h e r e f e r e n c e e l l i p s o i d n o r m a l
w h i c h passes t h r o u g h t h e r a d a r s i t e .

R is t h e s l a n t r a n g e t o t h e v e h i c l e .
A is t h e a z i m u t h a n g l e measured c l o c k w i s e from
t r u e n o r t h t o t h e p r o j e c t i o n of t h e s l a n t r a n g e
v e c t o r o n t o t h e r a d a r site t a n g e n t p l a n e .

E is t h e e l e v a t i o n a n g l e m e a s u r e d p o s i t l v e a b o v e
t h e radar s i t e t a n g e n t p l a n e t o t h e s l a n t r a n g e
vector.

FIGURE A-3a
 STANDARD COORDINATE SYSTEM 3b

RADAR (HA-DEC)

EARTH'S TRUE
ROTAT I ONAL AX I S

TYPE: Rotating, Earth referenced

ORIGIN: The point of intersection of the hour angle
axis with the plane of the declination gear

O R I E N T A T I O N AND LABELING :

R is the slant range* to the vehicle.

The HA axis is parallel to the Earth's true
rotational axis. The declination axis i s
parallel to the true equator and perpendicular
to the HA axis.
e
The hour angle (HA) is measured positive westward
in the plane of the local radar site parallel of
latitude, from the radar site meridian plane to
the plane perpendicular to the equator and contain-
ing the vehicle and the radar site.
The declination (DEC) is the angle measured from
the radar site parallel of latitude to the vehicle,
positive north and negative south of this plane.

* Range rate (R) data is a l s o generally available

in this system,

FIGURE A-3b
 STANDARD COORDINATE SYSTEM 3c
RADAR (X-Y 30 ft 1

ZENITH

PLANE OF T H E I - -RADAR S I T E MERIDIAN

.~NORTH

LOCAL H O R I Z O N T A L
PLANE

/
L I D A R SITE

EAST

TYPE: Rotating, Earth r e f e r e n c e d

ORIGIN: A t t h e i n t e r s e c t i o n of t h e X axis and
t h e plane of t h e Y a x i s g e a r

OR1ENTATION AND LABELING:

R i s t h e s l a n t r a n g e f r o m t h e radar s i t e
t o t h e vehicle.
The X a x i s l i e s along t h e i n t e r s e c t i o n of t h e
h o r i z o n t a l plane and t h e meridian plane a t t h e
r a d a r s i t e . The Y a x i s is perpendicular t o t h e
x axis.
X i s t h e angle measured i n t h e plane of t h e r a d a r
s i t e prime v e r t i c a l from t h e z e n i t h t o t h e pro-
j e c t i o n o f the s l a n t range v e c t o r onto t h i s plane,
p o s i t i v e eastward.
Y i s t h e angle between t h e s l a n t range v e c t o r and
i t s p r o j e c t i o n o n t o t h e plane o f t h e radar s i t e
prime v e r t i c a l , p o s i t i v e when t h e s l a n t range
v e c t o r i s north of t h e plane and n e g a t i v e when i t
i s south of i t .
(When t h e radar antenna i s d i r e c t e d toward t h e
z e n i t h , t h e X and 5' a n g l e s a r e zero and t h e Y a x i s
is perpendicular t o t h e r a d a r s i t e meridian p l a n e . )

*Range r a t e (R) data i s a l s o g e n e r a l l y a v a i l a b l e i n

t h i s system.

FIGURE A-3c
 STANDARD COORDl NATE SYSTEM 3d

RADAR (X-Y 85 ft. 1

ZEN I TH

SOUTH

/
LRAOAR
SITE

EAST
J

TYPE: Rotating, Earth referenced

ORIGIN: A t t h e i n t e r s e c t i o n of the X a x i s and
t h e p l a n e of t h e Y a x i s g e a r

ORIENTATION AND LABELING:

R is t h e s l a n t range* from t h e r a d a r s i t e
t o t h e vehicle.
The X axis l i e s along t h e I n t e r s e c t i o n of t h e
h o r i z o n t a l plane and t h e p l a n e of t h e prime
v e r t i c a l a t t h e r a d a r s i t e . The Y a x i s is
perpendicular t o t h e X axis.
X is t h e angle measure i n t h e meridian p l a n e

8 of t h e r a d a r s i t e from t h e z e n i t h t o t h e
p r o j e c t i o n of t h e s l a n t range v e c t o r o n t o t h i s
plane, p o s i t i v e southward. r

Y is t h e angle between t h e s l a n t range v e c t o r and

i t s p r o j e c t i o n o n t o t h e meridian p l a n e of t h e r a d a r
s i t e , p o s i t i v e when t h e s l a n t range v e c t o r is e a s t
of t h e meridian p l a n e and n e g a t i v e when i t is west
of i t .
(When t h e radar antenna is d i r e c t e d toward t h e
z e n i t h , t h e X and Y a n g l e s a r e zero and t h e Y a x i s
is p e r e n d i c u l a r t o t h e r a d a r s i t e prime v e r t i c a l
plane. 7
* Range r a t e ( R ) d a t a is a l s o g e n e r a l l y a v a i l a b l e
i n t h i s system.

FIGURE A-3d
 STANDARD COORDINATE SYSTEM 4
GEOCENTR IC INERTI AL

MEAN V E R N A L
EQUINOX

TYPE: Non-rotating, Earth referenced

ORIGIN: The center of the Earth

ORIENTATION AND LABELING:

The Z a x i s is directed along the Earth's mean
rotational axis, positive north.
The X 8xis is directed toward the#mean vernal
equicox .
The Y a x i s completes a standard right-handed
system.
epocn will generally be d L e :-.cd:'est ",cgirminZ
Tilt--
of i~ Besselian year, However, special applications
may involve other epochs. Consequently, in any
transmission of related data, the reference epoch
used s h o u l d be clearly stated.
This system is translatable to a Selenocentric
Inertial system.

FIGURE A-4
 STANDARD COOR D I NATE SYSTEM 5
IMPACT PREDICTION QUASI-INERTIAL
Z

94 EARTH'S TRUE
ROTATIONAL A X I S

DlAH

TRUE

TYPE: Non-rotat ing, Earth referenced

ORIGIN: The c e n t e r of the Earth

ORIENTATION AND LABELING:

This system i s redefined a t t h e beginning of each
computational cycle. It i s an i n e r t i a l system*
f o r t h e d u r a t i o n of each computational cycle.
The Z axis i s along t h e E a r t h ' s t r u e r o t a t i o n a l
axis, p o s i t i v e north. II)

The p o s i t i v e X a x i s i n t e r s e c t s t h e prime (Greenwich)

merldian a t t h e beginning of each computational cycle.
The Y axis completes a standard right-handed system.
(The X-Y p l a n e is t h e E a r t h ' s t r u e e q u a t o r i a l p l a n e . )

*Velocities expressed i n t h i s system a r e i n e r t i a l

velocities.

FIGURE A-5
li
II STANDARD COORDl NATE SYSTEM 6
EARTH-MOON PLANE

E
I EARTH-MOON

NORMAL T O
EARTH-MOON

TYPE: Non-rotating
ORIGIN: The center of the specified central body
(Earth or Moon: The Earth-centered system
is shown in this Figure,)

ORIENTATION AND LPBELING:

This system is redefined at the beginning of each
computational cycle. It is an inertial system* f o r
the duration of each computational cycle.
The X axis lies along the Earth-Moon line at the
beginning of each computational cycle, positive
away from the Earth toward the Moon.
The Z axis i s normal to the Earth-Moon plane, and
parallel to the Moon's angular momentum vector,
positive in a northerly direction,
.+2

The Y axis completes a standard right-handed system.

(The X-Y plane is normal to the Moon's angular
momentum vector.)
This system is translatable to a selenocentric
Earth-Moon Plane system. In this case the positive
X a x i s lies along the extended Earth-Moon line and
is directed away from the Earth.

* Velocities expressed in this system are inertial

velocities.

FIGURE A-6
 STANDARD COORDINATE SYSTEM 7
ORBITAL ELEMENTS

NORTH POLAR
AXIS

V E H I C L E ' S ANGULAR
M O M E N T U M VECTOR

+ CEL L E S T I A L EQUATOR

ASCEND I NG NODE
T
VERNAL
EQUINOX

TYPE: Non-rotating, Earth referenced

ORIGIN: The c e n t e r of t h e E a r t h

ORIENTATION AND LABELING :

a i s t h e semi-major a x i s o f t h e o r b i t .
e i s t h e eccentricity of the o r b i t .
f, t h e t r u e anomaly, i s t h e g e o c e n t r i c angular
displacement of t h e v e h i c l e measured i n t h e orb
plane from perigee, p o s i t i v e i n t h e d i r e c t i o n
travel i n the orbit.
OF
n, t h e r i g h t ascension of t h e ascending node, i s
t h e angle measured eastward from t h e vernal equinox
along t h e equator t o t h a t i n t e r s e c t i o n w i t h t h e
o r b i t where the v e h i c l e passes from south t o n o r t h .
u), t h e argument of p e r i g e e , i s t h e angle measured
i n t h e o r b i t plane between t h e ascending node and
p e r i g e e , p o s i t i v e i n t h e d i r e c t i o n of t r a v e l i n
the orbit.
i , t h e i n c l i n a t i o n o f t h e o r b i t a l plane, i s t h e
angle between the n o r t h p o l a r a x i s and t h e v e h i c l e
angular momentum v e c t o r .

FIGURE A-7
 STANDARD COORDINATE SYSTEM 8a
SATURN I AND I B LAUNCH VEHICLE STRUCTURAL BODY AXES

TYPE: Rotating, vehicle referenced

ORIGIN: On the longitudinal axis, 100
inches below the gimbal reference
p 1ane
O R I E N T A T I O N AND L A B E L I N G :

$: The X axis lies along the longitu-

1 dinal axis of the vehicle, positive
I
I
in the nominal direction of pos-
I itive thrust acceleration.
Position 1 (alternatively fin I )
defines the positive Z direction.
The Y axis completes a standard
right-handed system.
The Dynamical Body Axes system,
which has its origin at the
vehicle's instantaneous center of
mass, is translatable with the
Structural Body Axes system.
Launch Complexes 34 and 37 w i l l be

II used for Saturn I and I B launchings.

The positive Z axis of the erected
vehicle w i l l be directed approx-
imately 100' 1 2 ' east o f north for
Launch Complex 34, and approximately
90" 12' east of north for Launch
Complex 37.

II L

POSITION I Y
GIMBAL REFERENCE PLANE
( V E H I C L E S T A T I O N 100)
TOP VIEW

FIGURE A-8a
 STANDARD COORDINATE SYSTEM 8b
SATURN V LAUNCH VEHICLE STRUCTURAL BODY AXES

I?.":. u. iiotatirrg,vehicle referenced

ORIGIN: On the longitudinal axis, 100
inches below the gimbal reference
plane

ORIENTATION AND LABELING:

The X axis lies along the longitu-
dinal axis of the vehicle, positive
in the nominal direction of positive
thrust acceleration.
Position I defines the pod.tive Z
direction.
The Y axis completes a standard right-
handed system.
The Dynamical Body Axes system, which
has its origin at the vehicle's
instantaneous center of mass, i s trans-
latable with the Structural Body Axes
system ,
Launch Complex 39 will be used for
Saturn V launchings. The positive Z
axis of the erected vehicle w i l l be
directed approximately 90" 12' east of
north for this launch complex.

TOP VIEW

-POSITION I
G I M B A L REFERENCE P L A N E
V E H I C L E S T A T I O N 100

FIGURE A-Sb
 4
STANDARD COORDINATE SYSTEM &
C SM STRUCTURAL BODY AXES

I(ODULE

I
I

Y /
TYPE: Rotating, vehicle referenced
ORIGIN: On the longitudinal axis, 1,000 Inches below
the mold line of the heat shield main structure
ablator interface.

ORIENTATION AND LABELING :

The X a x i s lies along the longitudinal axis"
of the vehicle, positive in the nominal
direction of positive thrust acceleration.
The benchmark defining the positive Z axis is
an alignment target (labeled +Z) at the t o p
of the service module.
The Y axis completes a standard right-handed
system.
The dynamical Body Axes system, which has its
origin at the vehicle's instantaneous center of
mass, is translatable with the Structural Body
Axes system.

FIGURE A-&
 STANDARD COORDINATE SYSTEM 8d
LEM STRUCTURAL BODY AXES

C E N T E R L I H E OF T H E
TRANSFER TUNHEL

VEHICLE STATIOH
.IRE OF E X I T HATCH

I
I
I

t TYPE:
ORIGIN:
Rotating, vehicle referenced
Located 200 inches below t h e LEM Ascent
s t a g e base

I ORIENTATION AND LABELING:

The X a x i s l i e s along t h e l o n g i t u d i n a l a x i s

I ( c e n t e r l i n e of the t r a n s f e r t u n n e l ) of t h e
LEM, p o s i t i v e i n i t s nominal d i r e c t i o n of
positive thrust acceleration.
The p o s i t i v e Z axis i s n o t defined by a
.1)

I p h y s i c a l benchmark; however, t h e c e n t e r of
t h e LEM e x i t hatch s e r v e s a s a r e f e r e n c e
benchmark. Thus, t h e p o s i t i v e Z a x i s i s
p a r a l l e l t o t h e c e n t e r l i n e of t h e e x i t hatch.

I The Y axis completes a standard right-handed

system.
The jrynamical Body Axes system, which has i t s
o r i g i n a t t h e v e h i c l e ' s instantaneous c e n t e r

I of mass, is t r a n s l a t a b l e with t h e S t r u c t u r a l
Body Axes system.

I FIGURE A-8d

I
 STANDARD COORDINATE SYSTEM 9
MASS PROPERTIES

TYPE: Rotating, vehicle referenced

ORIGIN: Two origin are employed with
this system: one coincides
with the origin of the Launch
Vehicle Structural Body Axes
system and the other coincides
with the origin of the CSM
Structural Body Axes system.
The former Is generally used
when transmltting launch
vehicle mass properties data
and the latter when trans-
mltting spacecraft mass
properties data.

O R I E N T A T I O N AND L A B E L I N G
I n all cases the orientation
and labeling of the axes is
identical with that of the CSM
Structural Body Axes system
(Standard Coordinate System 8c).

8 -POSITION
/y I

FIGURE A-9
8 STANDARD COOR D INATE SYSTEM 10
EARTH-FIXED LAUNCH SITE

I
E A R T H ' S TRUE
ROTATIONAL AXIS

I
8

I
I TRUE

TYPE: R o t a t i n g , Earth r e f e r e n c e d
ORIGIN: A t t h e i n t e r s e c t i o n of t h e r e f e r e n c e e l l i p s o i d
and t h e normal t o it which p a s s e s t h r o u g h t h e
launch s i t e .

ORIENTATION AND LABELING:

The l a u n c h s i t e t a n g e n t p l a n e c o n t a i n s t h e s i t e
and i s p e r p e n d i c u l a r t o t h e r e f e r e n c e e l l i p s o i d
normal which p a s s e s t h r o u g h t h e l a u n c h s i t e ,
The X axis c o i n c i d e s w i t h t h e r e f e r e n c e e l l i p s o i d
normal p a s s i n g t h r o u g h t h e s i t e , p o s i t i v e upward.
The Z axis i s p a r a l l e l t o t h e E a r t h - f i x e d aiming
azimuth, d e f i n e d a t g u i d a n c e r e f e r e n c e r e l e a s e
t i m e , and i s p o s i t i v e downrange.
The Y axis completes a s t a n d a r d r i g h t - h a n d e d system.
(The Y-Z p l a n e is t h e launch s i t e t a n g e n t p l a n e . )

FIGURE A-10
 STANDARD COORDINATE SYSTEM 11
EARTH-CENTERED LAUNCH DERIVED

E A R T H ' S TRUE
ROTATIONAL A X I S

CE E L L I P S O I D NORMAL

EARTH-CENTERED
LAUNCH D E R I V E D

TRUE EQUATOR

S I T E TANOEWT P L A N E

TYPE: Rot a t irig , Ear t ti re t'ei'ri I C ed

ORIGIN: The c e n t e r of' tlre K a r t l i

ORIENTATION ANI) LABELING:

'The launch s i t e i , , i r i p e t i t plane c o n t a i n s t h e s i t e aiid
i s perpendicular t.u t l i e r e f e r e n c e e l l i p s o i d noimal
which passes through t h e launch s i t e . d

The X axis i s p a r a l l e l t o t h e r e f e r e n c e e l l l p s o l d
norma1 passing t h r o u i r l i the launch s i t e and i s
p o s i t i v e toward t h e laiinch s i t e .
The 'L a x i s is paI'dIlf21 t o , d i i d posltlve h i t h e same
d l r e c t l o n a s , t h e Eartli-flxed a i m i n g azimuth.
The Y axis completes a staridarkd i - i g l i t -Iictiided s y s t e m .
(The Y-Z plane Is p a r a l l e l to t h e launch s l t e t a n g e n t
plane).
'l'his syateni 1 s t r a n u J aLable w i t 1 1 t,he l!:ar.tli-l~Yxed
Launch S i t e system.

FIGURE A-11
 STANDARD COORDINATE SYSTEM 12
LAUNCH V EHIC LE PLATFORM- ACCELEROMETER
X

4 2

TYPE: Non-rotating, v e h i c l e referenced

ORIGIN: The i n t e r s e c t i o n of t h e primary axes of
t h e accelerometer

ORIENTATION AND LABELING:

I The X a x i s i s p a r a l l e l t o t h e r e f e r e n c e e l l i p s o i d
normal through t h e launch s i t e , p o s i t i v e upward.
The Z a x i s i s p a r a l l e l t o t h e aiming azimuth,
p o s i t i v e downrange.
The Y a x i s completes a standard right-handed %stem.
This system i s t r a n s l a t a b l e with t h e Earth-Fixed
Launch S i t e s y s t e m a t guidance r e f e r e n c e r e l e a s e
-time.

FIGURE A-12

I
 STANDARD COORDINATE SYSTEM 13
LAUNCH VEHICLE NAVIGATION

TqPE: Non-rotating, Earth r e f e r e n c e d

ORIGIN: The c e n t e r , of t h e E a r t h

ORIENTATION AND LABELING :

T h i s s y s t e m i s t r a n s l a t a b l e from t h e Lauticii V e w c l e
PlatPorm-Acceler,ometer system a t guidance r e f e r e n c e
r e l e a s e f o r t h e launch v e h i c l e .
The X a x i s i s p a r a l l e l t o t h e X a x i s of t h e Launch
V e h i c l e P l a t f o r m - A c c e l e r o m e t e r system.
The Y a x i s i s p a r a l l e l t o t h e Y a x i s o f t h e Launch
V e h i c l e P l a t f o r m - A c c e l e r o m e t e r system.
The Z axis completes a s t a n d a r d r i g h t - h a n d e d system.

FIGURE A-13
LIST OF PROJECT APOLLO STANDARD RELATIONSHIPS

B- 1 Dynamical Body Axes Systems

B- 2 The Orientation of the Launch
Vehicle, CSM and LEN Structural
Body Axes in the Launch Configuration

B-3 Space Vehicle Structural Body Axes

t
7. APPENDIX B
P r o j e c t Apollo Standard R e l a t i o n s h i p s E x i s t i n g
Among S t a n d a r d Coordinate Systems
T h i s Appendix c o n t a i n s t h e figures d e p i c t i n g
t h e three Standard R e l a t i o n s h i p s .
I
t
I
I N

I
I
I
I
I
I -.4 I
m

\
I
I STANDARD R E L A T I O N S H I P 2
T H E O R I E N T A T I O N OF T H E LAUNCH V E H I C L E , CSM AND LEM
S T R U C T U A L BODY A X E S I N T H E LAUNCH C O N F I G U R A T I O N

I X

I Y

I
I Y

.EM

I NOTE: T H E D Y N A H I C A L BODY A X E S ARE

P R E S E N T E D H E R E I N ORDER

I TO P R E S E R V E C L A R I T Y . T H E
S T R U C T U R A L AND D Y N A H I C A L
BODY AXES ARE T R A N S L A T A B L E

I
I X

I
I
n
Y J
I - 2

LAUNCH V E H I C L E

II
II +POSITIOW I

U
FIGURE B-2

I
I STANDARD RELATIONSHIP 3

I SPACE VEHICLE STRUCTURAL BODY AXES

I
I
I
I
NOTE :

I THE SPACE VEHICLE STRUCTURAL

BODY AXES ARE IDENTICAL WITH
LAUNCH VEHICLE STRUCTUAL BODY
I AXES.

I
I
I
I
I
I
I
1 C---POSITION I

I
B -3

I
 8. REJBRENCES
1. "AFMTC S t a n d a r d i z e d T h e o r e t i c a l T r a j e c t o r y
Magnetic Tape Format", H e a d q u a r t e r s A i r Force
Missile Test Center, AFMTCM 80-4, J a n u a r y 5, 1964.
2. "Goddard D i r e c t o r y of T r a c k i n g S t a t ion Locat i o n s , 'I
Goddard Space F l i g h t C e n t e r , X-544-64-176,
J u l y 1, 1964

I 3. "American S t a n d a r d , L e t t e r Symbols f o r
A e r o n a u t i c a l S c i e n c e s " , The American S o c i e t y
of Mechanical E n g i n e e r s , (ASA Y10.7-1954),
I 4.
October, 1954.
"Recornendat i o n s o f M a r s h a l l Space F l i g h t
Center f o r S t a n d a r d i z a t i o n o f C o o r d i n a t e
I Systems i n MSF", MSFC, NASA TM X-54182,
March 2, 1965.

I 5- "Mass P r o p e r t i e s S t a n d a r d " , NASA OMSF Program

D i r e c t i v e , M-DE 8000.006, E f f e c t i v e June 1, 1963.

I
I
ID