diff --git a/doc/position-orientation.rst b/doc/position-orientation.rst
index ef594e1..203ca0f 100644
--- a/doc/position-orientation.rst
+++ b/doc/position-orientation.rst
@@ -47,7 +47,7 @@ The first angle (*azimuth*) rotates around the z-axis,
 the second angle (*elevation*) around the (previously rotated) x-axis
 and the third angle (*roll*) around the (previously rotated) y-axis.
 
-__ https://en.wikipedia.org/wiki/Euler_angles#Tait–Bryan_angles
+__ https://en.wikipedia.org/wiki/Euler_angles#Tait-Bryan_angles
 
 All angles are given in degrees.
 The *elevation* and *roll* angles are optional, with a default of zero.
diff --git a/doc/quaternions.ipynb b/doc/quaternions.ipynb
index b0a04ff..962b5f0 100644
--- a/doc/quaternions.ipynb
+++ b/doc/quaternions.ipynb
@@ -17,7 +17,7 @@
    "metadata": {},
    "source": [
     "You might be tempted to use the equations from\n",
-    "[Wikipedia](https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Euler_angles_(in_3-2-1_sequence)_to_quaternion_conversion),\n",
+    "[Wikipedia](https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Angles_(in_ZYX_sequence)_to_quaternion_conversion),\n",
     "but those use different conventions for axes and angles!\n",
     "The resulting equations will have a similar structure but will not be quite identical.\n",
     "\n",
@@ -282,7 +282,7 @@
     "## Quaternion to ASDF rotations\n",
     "\n",
     "Again, please note that the equations from\n",
-    "[Wikipedia](https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion)\n",
+    "[Wikipedia](https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_angles_(in_ZYX_sequence)_conversion)\n",
     "use different conventions for axes and angles."
    ]
   },