Relationship With Other Systems of Axes
These axes are related to the principal axes of inertia, but are not the same. They are geometrical symmetry axes, regardless of the mass distribution of the aircraft.
In aeronautical and aerospace engineering intrinsic rotations around these axes are often called Euler angles, but this conflicts with existing usage elsewhere. The calculus behind them is similar to the Frenet-Serret formulas. Performing a rotation in an intrinsic reference frame is equivalent to right-multiply its characteristic matrix (the matrix that has the vector of the reference frame as columns) by the matrix of the rotation.
Read more about this topic: Aircraft Principal Axes
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