> For the complete documentation index, see [llms.txt](https://ptandur14.gitbook.io/everything-about-drone/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ptandur14.gitbook.io/everything-about-drone/dynamics-of-drones/orientation-and-position.md).

# Orientation and position

                                    ![](https://miro.medium.com/max/244/1*yCGg7KDarsZVgzWu-CR7Ng.png)

A drone has positional as well as orientational attributes, meaning to say it can be any position (x, y, z coordinates) and can be making certain angles (theta (θ), phi (φ) and psi (ψ)) with respect to world / Inertial frame. Above figure shows theta (θ), phi (φ) and psi (ψ) more clearly.