Haversine formula: Difference between revisions
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http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf
There is also a slightly higher-accuracy algorithm (closer to namometers instead of fractions of millimeters LOL):
"Algorithms for geodesics", Charles F. F. Karney, ''Journal of Geodesy'', January 2013, Volume 87, Issue 1, pp 43-55
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