“…The methods of solving the above problems can be divided into two general categories: (i) using an auxiliary sphere, e.g., Bessel (1826), Rainsford (1955), Robbins (1962), Sodano (1965), Saito (1970), Vincenty (1975), Saito (1979), Bowring (1983), Karney (2013) and (ii) without using an auxiliary sphere, e.g., Kivioja (1971), Holmstrom (1976), Jank and Kivioja (1980), Thomas and Featherstone (2005), Panou (2013), Panou et al (2013), Tseng (2014). The methods which use an auxiliary sphere are based on the classical work of Bessel (1826) and its modifications.…”