An analytic inversion of the matrix P(t) was determined by calculating the determinant and the co-factors. The details are omitted here for brevity but the result is given by Eqs. (34) and (35) t 3. Summary A simple analytic solution for the Lagrange multipliers has been derived in terms of flight time, Cartesian position, velocity and angular momentum vectors. The solution is valid for all types of conic arcs, except rectilinear, with a special form of the expression for one function for parabolic