The high accuracy of modern astronomical spatial-temporal reference systems has made them considerably complex. This book offers a comprehensive overview of such systems. It begins with a discussion of 'The Problem of Time', including recent developments in the art of clock making (e.g., optical clocks) and various time scales. The authors address the definitions and realization of spatial coordinates by reference to remote celestial objects such as quasars. After an extensive treatment of classical equinox-based coordinates, new paradigms for setting up a celestial reference system are...