Unique representation of each point in 3d space by Linear combination of 3 mutually perpendicular vectors.

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I intuitively accepted that there is an unique representation of any point in a 3d space by linear combination of 3 mutually perp. vectors. But now I'm wondering is this an axiom or a theorem?

If theorem where can I find a proof of this?

Just so that it is easier for you to explain - I'm a highschool student who knows vector addition, subtraction, scalar product and vector product and some basic knowledge or 3d geometry line equations of lines and planes.