ECEF ("Earth-Centered, Earth-Fixed"), also known as ECR ("Earth Centered Rotational"), is a geographic coordinate system and Cartesian coordinate system, and is sometimes known as a "conventional terrestrial" system. It represents positions as an X, Y, and Z coordinate. The point (0,0,0) is defined as the center of mass of the Earth, hence the name Earth-Centered. Its axes are aligned with the International Reference Pole (IRP) and International Reference Meridian (IRM) that are fixed with respect to the surface of the Earth, hence the name Earth-Fixed. This term can cause confusion since the Earth does not rotate about the z-axis (unlike an inertial system such as ECI), and is therefore alternatively called ECR.

ECEF ("Earth-Centered, Earth-Fixed"), also known as ECR ("Earth Centered Rotational"), is a geographic coordinate system and Cartesian coordinate system, and is sometimes known as a "conventional terrestrial" system. It represents positions as an X, Y, and Z coordinate. The point (0,0,0) is defined as the center of mass of the Earth, hence the name Earth-Centered. Its axes are aligned with the International Reference Pole (IRP) and International Reference Meridian (IRM) that are fixed with respect to the surface of the Earth, hence the name Earth-Fixed. This term can cause confusion since the Earth does not rotate about the z-axis (unlike an inertial system such as ECI), and is therefore alternatively called ECR.