Pitch and Roll and Yaw?
That's referring to rotation though. I was mostly interested in alternatives to describe translation.
It really depends on who you are targeting with your description. This is what Wiki does: http://en.wikipedia.org/wiki/Six_degrees_of_freedom
Yeah, that's what I ended up using. It's probably the best choice. Somewhat odd though that we have good words for rotations in all dimensions, but not for translation.
altitude and elevation are the same thing really.
Not according to wikipedia:
The elevation of a geographic location is its height above a fixed reference point, often the mean sea level. Elevation, or geometric height, is mainly used when referring to points on the Earth's surface, while altitude or geopotential height is used for points above the surface, such as an aircraft in flight or a spacecraft in orbit.