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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).

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

ReferenceFrame 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.