1

where ¿;G, nG and ZG are the barycentre coordinates in inertial coordinate system, T1 and T2 are coordinate transform matrix given by cosvcos0 cos vsin0sinp - sinvcosp cos vsin0cosp + sinvsinp sinvcos0 sin vsin0sinp + cosvcosp sin vsin0cosp - cosvsinp - sin0 cos0sinp cos0cosp

1 tan0sinp tan0cosp 0 cosp - sinp 0 sinpsec0 cospsec0

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