Derivation of transformation formulas between geocentric and geodetic coordinates for nonzero altitudes

Four formulas, for the nonzero altitude transformation from geodetic coordinates (geodetic latitude and altitude) to geocentric coordinates (geocentric latitude and geocentric distance) and vice versa, are derived. The set of four formulas is expressed in each of the three useful forms: series expansion in powers of the earth's flattening; series expansion in powers of the earth's eccentricity; and Fourier series expansion in terms of the geodetic latitude or the geocentric latitude. The error incurred in these series expansions is of the order of one part in 3 x 10 to the 7th power.