  Pulsars are special objects whose positions can be determined independently
from timing, radio interferometric, and Gaia astrometry at sub-milliarcsecond
(mas) precision; thus, they provide a unique way to monitor the link between
dynamical and kinematic reference frames. We aimed to assess the orientation
consistency between the dynamical reference frame represented by the planetary
ephemeris and the kinematic reference frames constructed by Gaia and VLBI
through pulsar positions. We identified 49 pulsars in Gaia Data Release 3 and
62 pulsars with very long baseline interferometry (VLBI) positions from the
PSR$\pi$ and MSPSR$\pi$ projects and searched for the published timing
solutions of these pulsars. We then compared pulsar positions measured by
timing, VLBI, and Gaia to estimate the orientation offsets of the ephemeris
frames with respect to the Gaia and VLBI reference frames by iterative fitting.
We found orientation offsets of $\sim$10 mas in the DE200 frame with respect to
the Gaia and VLBI frame. Our results depend strongly on the subset used in the
comparison and could be biased by underestimated errors in the archival timing
data, reflecting the limitation of using the literature timing solutions to
determine the frame rotation.
