Abstract
The vector-based algorithm to transform Cartesian (X, Y, Z ) into geodetic coordinates ( $${\phi}$$ , λ, h) presented by Feltens (J Geod, 2007, doi: 10.1007/s00190-007-0198-1 ) has been extended for triaxial ellipsoids. The extended algorithm is again based on simple formulae and has successfully been tested for the Earth and other celestial bodies and for a wide range of positive and negative ellipsoidal heights.
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