This paper studies the formation control problem of a leader-follower heterogeneous network, for which some agents can freely fly in a 3D space while others are confined in a 2D space. The sensing graph is assumed to be directed and the onboard local coordinate systems associated with the agents may not be coincident with each other. More specifically, the agents may have aligned z-axis but hold inconsistent x and y axes due to the absence of a common sense about north. This paper develops a distributed formation control law that solves the formation control problem for a leader-follower heterogeneous network without relying on a common coordinate system. Moreover, it is shown that the proposed control law guarantees global convergence towards any desired formation shape as long as certain graph connectivity conditions hold. Simulation results are provided to validate our control law.