Math behind the drones. 無人機背後的數學

【縛雞之見】英文拷到 G / D 找中文翻譯
The show performed by 1,824 drones was the spotlight of the opening ceremony of Tokyo 2020.  It demonstrates the passion for precision and collaboration in Japanese culture. 

Unlike other shows, it needs skills of positioning and mathematics to instruct and collaborate with 1,824 drones in a three-dimension field and to perform sophisticated patterns.
How many degrees of freedom should each drone have to compose the movement and rotation as if the Globe is a unit one? 
As common sense, they must have X, Y, Z, three degrees of freedom of the Cartesian coordinate system, and have added three rotation vectors of the Polar coordinate system.  Moreover, the Globe, which was composed of drones, moved and rotated as if it was a real Earth.  And that puts another vector(s) for the operators to manage.
There is advanced math knowledge behind the fascinating show ever seen.  The other commercial drone show in other parts of the world can be achieved by out-sourcing to companies or doing it in-house by the package programs.  But not the one in the Tokyo 2020 Opening Ceremony.  It is one of the kinds.