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I have a point (red dot) coordinates given as [vector magnitude, azimuth angle (blue), elevation angle (yellow)] in the inclined local system X'Y'Z', which must be converted into coordinates [x, y, z] in the stable (inertial) system XYZ. The inclination of X'Y' plane relative to the XY plane is known from a 2-axis (XY) inclination sensor. Questions are: 1) what those two angles are - (^XOA, ^YOB) or (^X'OR, ^Y'OS) or (^X'OX, ^Y'OY) or something else - and 2) how to use them to convert our coordinates (i.e. rotate the reference frame)? enter image description here

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