Spherical Coordinate System - Definition

Definition

To define a spherical coordinate system, one must choose two orthogonal directions, the zenith and the azimuth reference, and an origin point in space. These choices determine a reference plane that contains the origin and is perpendicular to the zenith. The spherical coordinates of a point P are then defined as follows:

• the radius or radial distance is the Euclidean distance from the origin O to P.
• the inclination (or polar angle) is the angle between the zenith direction and the line segment OP.
• the azimuth (or azimuthal angle) is the signed angle measured from the azimuth reference direction to the orthogonal projection of the line segment OP on the reference plane.

The sign of the azimuth is determined by choosing what is a positive sense of turning about the zenith. This choice is arbitrary, and is part of the coordinate system's definition.

The elevation angle is 90 degrees (π/2 radians) minus the inclination angle.

If the inclination is zero or 180 degrees (π radians), the azimuth is arbitrary. If the radius is zero, both azimuth and inclination are arbitrary.

In linear algebra, the vector from the origin O to the point P is often called the position vector of P.