  We present the activities carried out to calibrate and characterise the
performance of the elements of attitude control and measurement on board the
Herschel spacecraft. The main calibration parameters and the evolution of the
indicators of the pointing performance are described, from the initial values
derived from the observations carried out in the performance verification phase
to those attained in the last year and half of mission, an absolute pointing
error around or even below 1 arcsec, a spatial relative pointing error of some
1 arcsec and a pointing stability below 0.2 arsec. The actions carried out at
the ground segment to improve the spacecraft pointing measurements are
outlined. On-going and future developments towards a final refinement of the
Herschel astrometry are also summarised. A brief description of the different
components of the attitude control and measurement system (both in the space
and in the ground segments) is also given for reference. We stress the
importance of the cooperation between the different actors (scientists, flight
dynamics and systems engineers, attitude control and measurement hardware
designers, star-tracker manufacturers, etc.) to attain the final level of
performance.
