General-altitude transformations between geocentric and geodetic coordinates

Formulas for the general-altitude (height above the ellipsoid) transformation from geocentric to geodetic coordinates and vice versa are derived. The set of four formulas is expressed in each of two useful forms: series expansions in powers of the earth's flattening and series expansions in powers of the earth's eccentricity. The error incurred in these expansions is of the order of one part in 30 million.-