Reference Frames Module¶

Reference frame transformations between inertial and body-fixed coordinate systems for Earth, the Moon, and Mars, synodic (two-body rotating) frames, plus a generic router for any two supported frames.

Transformation Categories¶

ECI ↔ ECEF¶

Generic transformations using common "Earth-Centered Inertial" and "Earth-Centered Earth-Fixed" naming convention. Currently maps to GCRF ↔ ITRF transformations.

GCRF ↔ ITRF¶

Explicit transformations between Geocentric Celestial Reference Frame (inertial) and International Terrestrial Reference Frame (Earth-fixed). Uses IAU 2006/2000A CIO-based theory with classical angles.

EME2000 ↔ GCRF¶

Constant frame bias transformations between Earth Mean Equator and Equinox of J2000.0 (classical inertial) and GCRF (modern inertial).

GCRF ↔ MOD ↔ TOD¶

Equinox-based transformations between GCRF and the mean equator and equinox of date (MOD) and true equator and equinox of date (TOD), and from TOD to ITRF.

Lunar Frames¶

Transformations between Lunar-Centered Inertial (LCI) and the Moon-fixed LFPA/LFME frames.

Mars Frames¶

Transformations between Mars-Centered Inertial (MCI) and the Mars-fixed MCMF frame.

Synodic Frames¶

Transformations between GCRF and the synodic EMR, SER, and GSE frames.

Reference Frame Router¶

CelestialFrame and the generic rotation_frame_to_frame/position_frame_to_frame/state_frame_to_frame functions, which convert between any two supported frames, including generic NAIF-ID variants for bodies without a dedicated named frame.

Frame Graph¶

ReferenceFrame and BodyFrame, extending the router to object-scoped orbit-relative and body/sensor frames registered against a specific object.