Aims. We compare stellar catalogues with position and proper motion components using a decomposition on a set of orthogonal vector spherical harmonics. We aim to show the theoretical and practical advantages of this technique as a result of invariance properties and the independence of the decomposition from a prior model. Methods. We describe the mathematical principles used to perform the spectral decomposition, evaluate the level of significance of the multipolar components, and examine the transformation properties under space rotation. Results. The principles are illustrated with a characterisation of systematic effects in the FK5 catalogue compared to Hipparcos and with an application to extraction of the rotation and dipole acceleration in the astrometric solution of QSOs expected from Gaia.