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Tait-Bryan angles

Yaw, pitch and roll angles for an aircraft. Fixed frame xyz has been moved backwards from center of gravity (preserving angles) for clarity. Axes Y and Z are not shown. The convention used here for axis definition would give the name z-y-x to the convention of angles shown
Tait-Bryan angles, convention Z-X-Y, defined statically. View from two different perspectives. At difference from proper Euler angles, the perpendicular of the line of nodes must be used in the static definition
ZYX convention

See also Euler angles