使用Asymptote绘制三维坐标系，可翻转。也可以绘制向量。

DrawFrame.asy

void drawFrame(real x0,real y0,real length,string label="",real alpha=0,real beta=0,real gamma=0){
        alpha = alpha/180*3.1415926;
        beta = beta/180*3.1415926;
        gamma = gamma/180*3.1415926;
	
	
	real r11 = cos(gamma)*cos(beta);
	real r12 = -sin(gamma)*cos(alpha)+cos(gamma)*sin(beta)*sin(alpha);
	real r13 = sin(gamma)*sin(alpha)+cos(gamma)*sin(beta)*cos(alpha);
	
	real r21 = sin(gamma)*cos(beta);
	real r22 = cos(gamma)*cos(alpha)+sin(gamma)*sin(beta)*sin(alpha);
	real r23 = -cos(gamma)*sin(alpha)+sin(gamma)*sin(beta)*cos(alpha);
	
	real r31 = -sin(beta);
	real r32 = cos(beta)*sin(alpha);
	real r33 = cos(beta)*cos(alpha);
	
	real x1 = x0+(r11-0.707*r21)*length;
	real y1 = y0+(r31-0.707*r21)*length;
	
	real x2 = x0+(r12-0.707*r22)*length;
	real y2 = y0+(r32-0.707*r22)*length;
	
	real x3 = x0+(r13-0.707*r32)*length;
	real y3 = y0+(r33-0.707*r32)*length;
	
	draw((x0,y0)--(x1,y1),Arrow);
	draw((x0,y0)--(x2,y2),Arrow);
	draw((x0,y0)--(x3,y3),Arrow);
	label("$\Sigma_"+label+"$",(x0,y0),SE);
	label("$Y_"+label+"$",(x1,y1),NE);
	label("$X_"+label+"$",(x2,y2),SE);
	label("$Z_"+label+"$",(x3,y3),NW);
}

void drawVector(pair f ,pair t, string label,pair w){
	draw(f--t,Arrow);
	label(label,(f+t)/2,w);
}


drawFrame(0,0,100,"W");
drawFrame(400,200,100,"E",30,30);
pair p=(150,250);
drawVector((0,0),p,"$\overrightarrow{{}^WP_a}$",SE);
drawVector((0,0),(400,200),"$\overrightarrow{{}^WP_E}$",SE);
drawVector((400,200),p,"$\overrightarrow{{}^EP_a}$",SW);
label("$a(1.5,2.5)$",p,NE);