# Orientation and position

&#x20;                                   ![](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.
