You might take a look at Flight dynamics as well as Roll-Nick-Gier-Winkel ( roll-pitch-yaw angle) for some further inspiration. Unfortunatly the article is in German. Nobody is perfect ;-)

Update: Perhaps i should have read what you wrote above...

Update 2: You might also take a look at Reference Coordinate System provided by AUTODESK

Edit: Fixed wrong link to AUTODESK coord article.

Best regards, Karl