וְעָשִׂ֥יתָ מִזְבֵּ֖חַ מִקְטַ֣ר קְטֹ֑רֶת עֲצֵ֥י שִׁטִּ֖ים תַּעֲשֶׂ֥ה אֹתֽוֹ׃
E farás um altar para queimar incenso; de madeira de acácia o farás.
Mishneh Torah, The Chosen Temple
The incense altar was a one cubit by one cubit square and was placed in the Sanctuary at the midpoint between the north and south [walls of the Temple] between the table and the Menorah but slightly outward (further away from the Inner Sanctum --translator). All three of them were in the inner third of the Sanctuary close to the curtain which divided between the Sanctuary and the Sanctum Sanctorum.