diff --git a/swiftnav/src/math.rs b/swiftnav/src/math.rs
index f66099a..47977fb 100644
--- a/swiftnav/src/math.rs
+++ b/swiftnav/src/math.rs
@@ -29,6 +29,7 @@ pub(crate) const fn compile_time_max_u16(a: u16, b: u16) -> u16 {
 ///
 /// # Panics
 ///
+/// - This function will panic if the given number is NOT between 0.0 and 1.0.
 /// - This function will panic if the computation does not converge within 100 iterations.
 ///
 /// # Notes
@@ -37,6 +38,11 @@ pub(crate) const fn compile_time_max_u16(a: u16, b: u16) -> u16 {
 /// - The algorithm iteratively refines the approximation of the square root until the result stabilizes.
 #[expect(clippy::many_single_char_names, reason = "It's math, whatyagonnado?")]
 pub(crate) const fn compile_time_sqrt(s: f64) -> f64 {
+    assert!(
+        s >= 0.0 && s <= 1.0,
+        "Can only compute square root of numbers between 0 and 1"
+    );
+
     let mut x = s;
     let mut y = 0.0_f64;
     let mut z;
@@ -71,3 +77,22 @@ pub(crate) fn ecef2ned_matrix(llh: crate::coords::LLHRadians) -> nalgebra::Matri
         -sin_lat,
     )
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use float_eq::assert_float_eq;
+    use proptest::prelude::*;
+
+    proptest! {
+        #![proptest_config(ProptestConfig::with_cases(1000))]
+
+        /// Property: Converting LLH->ECEF->LLH should always result in the original value
+        #[test]
+        fn newton_sqrt(x in 0.0..=1.0) {
+            let newton_approx = compile_time_sqrt(x);
+            let sqrt = x.sqrt();
+            assert_float_eq!(sqrt, newton_approx, ulps <= 1, "Newton approximation of square root doesn't match IEEE sqrt! (Newton: {}, IEEE: {})", newton_approx, sqrt);
+        }
+    }
+}
diff --git a/swiftnav/src/reference_frame/mod.rs b/swiftnav/src/reference_frame/mod.rs
index fefad79..b78df34 100644
--- a/swiftnav/src/reference_frame/mod.rs
+++ b/swiftnav/src/reference_frame/mod.rs
@@ -75,6 +75,7 @@
 //!
 
 use crate::coords::{Coordinate, ECEF};
+use nalgebra::{Matrix3, Vector3};
 use std::{
     collections::{HashMap, HashSet, VecDeque},
     fmt,
@@ -168,20 +169,12 @@ pub enum ReferenceFrame {
 /// formulation of the Helmert transformation.
 #[derive(Debug, PartialEq, PartialOrd, Clone, Copy)]
 pub struct TimeDependentHelmertParams {
-    tx: f64,
-    tx_dot: f64,
-    ty: f64,
-    ty_dot: f64,
-    tz: f64,
-    tz_dot: f64,
+    t: Vector3<f64>,
+    t_dot: Vector3<f64>,
     s: f64,
     s_dot: f64,
-    rx: f64,
-    rx_dot: f64,
-    ry: f64,
-    ry_dot: f64,
-    rz: f64,
-    rz_dot: f64,
+    r: Vector3<f64>,
+    r_dot: Vector3<f64>,
     epoch: f64,
 }
 
@@ -192,57 +185,42 @@ impl TimeDependentHelmertParams {
 
     /// Reverses the transformation. Since this is a linear transformation we simply negate all terms
     pub fn invert(&mut self) {
-        self.tx *= -1.0;
-        self.tx_dot *= -1.0;
-        self.ty *= -1.0;
-        self.ty_dot *= -1.0;
-        self.tz *= -1.0;
-        self.tz_dot *= -1.0;
+        self.t *= -1.0;
+        self.t_dot *= -1.0;
         self.s *= -1.0;
         self.s_dot *= -1.0;
-        self.rx *= -1.0;
-        self.rx_dot *= -1.0;
-        self.ry *= -1.0;
-        self.ry_dot *= -1.0;
-        self.rz *= -1.0;
-        self.rz_dot *= -1.0;
+        self.r *= -1.0;
+        self.r_dot *= -1.0;
     }
 
     /// Apply the transformation on a position at a specific epoch
     #[must_use]
     pub fn transform_position(&self, position: &ECEF, epoch: f64) -> ECEF {
         let dt = epoch - self.epoch;
-        let tx = (self.tx + self.tx_dot * dt) * Self::TRANSLATE_SCALE;
-        let ty = (self.ty + self.ty_dot * dt) * Self::TRANSLATE_SCALE;
-        let tz = (self.tz + self.tz_dot * dt) * Self::TRANSLATE_SCALE;
+        let t = (self.t + self.t_dot * dt) * Self::TRANSLATE_SCALE;
         let s = (self.s + self.s_dot * dt) * Self::SCALE_SCALE;
-        let rx = (self.rx + self.rx_dot * dt) * Self::ROTATE_SCALE;
-        let ry = (self.ry + self.ry_dot * dt) * Self::ROTATE_SCALE;
-        let rz = (self.rz + self.rz_dot * dt) * Self::ROTATE_SCALE;
+        let r = (self.r + self.r_dot * dt) * Self::ROTATE_SCALE;
 
-        let x = position.x() + tx + (s * position.x()) + (-rz * position.y()) + (ry * position.z());
-        let y = position.y() + ty + (rz * position.x()) + (s * position.y()) + (-rx * position.z());
-        let z = position.z() + tz + (-ry * position.x()) + (rx * position.y()) + (s * position.z());
+        let m = Self::make_rotation_matrix(s, r);
 
-        ECEF::new(x, y, z)
+        (position.as_vector() + t + m * position.as_vector()).into()
     }
 
     /// Apply the transformation on a velocity at a specific position
     #[must_use]
     pub fn transform_velocity(&self, velocity: &ECEF, position: &ECEF) -> ECEF {
-        let tx = self.tx_dot * Self::TRANSLATE_SCALE;
-        let ty = self.ty_dot * Self::TRANSLATE_SCALE;
-        let tz = self.tz_dot * Self::TRANSLATE_SCALE;
+        let t = self.t_dot * Self::TRANSLATE_SCALE;
         let s = self.s_dot * Self::SCALE_SCALE;
-        let rx = self.rx_dot * Self::ROTATE_SCALE;
-        let ry = self.ry_dot * Self::ROTATE_SCALE;
-        let rz = self.rz_dot * Self::ROTATE_SCALE;
+        let r = self.r_dot * Self::ROTATE_SCALE;
 
-        let x = velocity.x() + tx + (s * position.x()) + (-rz * position.y()) + (ry * position.z());
-        let y = velocity.y() + ty + (rz * position.x()) + (s * position.y()) + (-rx * position.z());
-        let z = velocity.z() + tz + (-ry * position.x()) + (rx * position.y()) + (s * position.z());
+        let m = Self::make_rotation_matrix(s, r);
 
-        ECEF::new(x, y, z)
+        (velocity.as_vector() + t + m * position.as_vector()).into()
+    }
+
+    #[must_use]
+    fn make_rotation_matrix(s: f64, r: Vector3<f64>) -> Matrix3<f64> {
+        Matrix3::new(s, -r.z, r.y, r.z, s, -r.x, -r.y, r.x, s)
     }
 }
 
@@ -564,20 +542,20 @@ mod tests {
     #[test]
     fn helmert_position_translations() {
         let params = TimeDependentHelmertParams {
-            tx: 1.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
-            tx_dot: 0.1 / TimeDependentHelmertParams::TRANSLATE_SCALE,
-            ty: 2.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
-            ty_dot: 0.2 / TimeDependentHelmertParams::TRANSLATE_SCALE,
-            tz: 3.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
-            tz_dot: 0.3 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+            t: Vector3::new(
+                1.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+                2.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+                3.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+            ),
+            t_dot: Vector3::new(
+                0.1 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+                0.2 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+                0.3 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+            ),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2010.0,
         };
         let initial_position = ECEF::default();
@@ -596,20 +574,12 @@ mod tests {
     #[test]
     fn helmert_position_scaling() {
         let params = TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 1.0 / TimeDependentHelmertParams::SCALE_SCALE,
             s_dot: 0.1 / TimeDependentHelmertParams::SCALE_SCALE,
-            rx: 90.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(90.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2010.0,
         };
         let initial_position = ECEF::new(1., 2., 3.);
@@ -628,20 +598,20 @@ mod tests {
     #[test]
     fn helmert_position_rotations() {
         let params = TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 1.0 / TimeDependentHelmertParams::ROTATE_SCALE,
-            rx_dot: 0.1 / TimeDependentHelmertParams::ROTATE_SCALE,
-            ry: 2.0 / TimeDependentHelmertParams::ROTATE_SCALE,
-            ry_dot: 0.2 / TimeDependentHelmertParams::ROTATE_SCALE,
-            rz: 3.0 / TimeDependentHelmertParams::ROTATE_SCALE,
-            rz_dot: 0.3 / TimeDependentHelmertParams::ROTATE_SCALE,
+            r: Vector3::new(
+                1.0 / TimeDependentHelmertParams::ROTATE_SCALE,
+                2.0 / TimeDependentHelmertParams::ROTATE_SCALE,
+                3.0 / TimeDependentHelmertParams::ROTATE_SCALE,
+            ),
+            r_dot: Vector3::new(
+                0.1 / TimeDependentHelmertParams::ROTATE_SCALE,
+                0.2 / TimeDependentHelmertParams::ROTATE_SCALE,
+                0.3 / TimeDependentHelmertParams::ROTATE_SCALE,
+            ),
             epoch: 2010.0,
         };
         let initial_position = ECEF::new(1.0, 1.0, 1.0);
@@ -660,20 +630,20 @@ mod tests {
     #[test]
     fn helmert_velocity_translations() {
         let params = TimeDependentHelmertParams {
-            tx: 1.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
-            tx_dot: 0.1 / TimeDependentHelmertParams::TRANSLATE_SCALE,
-            ty: 2.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
-            ty_dot: 0.2 / TimeDependentHelmertParams::TRANSLATE_SCALE,
-            tz: 3.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
-            tz_dot: 0.3 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+            t: Vector3::new(
+                1.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+                2.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+                3.0 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+            ),
+            t_dot: Vector3::new(
+                0.1 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+                0.2 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+                0.3 / TimeDependentHelmertParams::TRANSLATE_SCALE,
+            ),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2010.0,
         };
         let initial_velocity = ECEF::default();
@@ -688,20 +658,12 @@ mod tests {
     #[test]
     fn helmert_velocity_scaling() {
         let params = TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 1.0 / TimeDependentHelmertParams::SCALE_SCALE,
             s_dot: 0.1 / TimeDependentHelmertParams::SCALE_SCALE,
-            rx: 90.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(90.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2010.0,
         };
         let initial_velocity = ECEF::default();
@@ -716,20 +678,20 @@ mod tests {
     #[test]
     fn helmert_velocity_rotations() {
         let params = TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 1.0 / TimeDependentHelmertParams::ROTATE_SCALE,
-            rx_dot: 0.1 / TimeDependentHelmertParams::ROTATE_SCALE,
-            ry: 2.0 / TimeDependentHelmertParams::ROTATE_SCALE,
-            ry_dot: 0.2 / TimeDependentHelmertParams::ROTATE_SCALE,
-            rz: 3.0 / TimeDependentHelmertParams::ROTATE_SCALE,
-            rz_dot: 0.3 / TimeDependentHelmertParams::ROTATE_SCALE,
+            r: Vector3::new(
+                1.0 / TimeDependentHelmertParams::ROTATE_SCALE,
+                2.0 / TimeDependentHelmertParams::ROTATE_SCALE,
+                3.0 / TimeDependentHelmertParams::ROTATE_SCALE,
+            ),
+            r_dot: Vector3::new(
+                0.1 / TimeDependentHelmertParams::ROTATE_SCALE,
+                0.2 / TimeDependentHelmertParams::ROTATE_SCALE,
+                0.3 / TimeDependentHelmertParams::ROTATE_SCALE,
+            ),
             epoch: 2010.0,
         };
         let initial_velocity = ECEF::default();
@@ -744,53 +706,45 @@ mod tests {
     #[test]
     fn helmert_invert() {
         let mut params = TimeDependentHelmertParams {
-            tx: 1.0,
-            tx_dot: 0.1,
-            ty: 2.0,
-            ty_dot: 0.2,
-            tz: 3.0,
-            tz_dot: 0.3,
+            t: Vector3::new(1.0, 2.0, 3.0),
+            t_dot: Vector3::new(0.1, 0.2, 0.3),
             s: 4.0,
             s_dot: 0.4,
-            rx: 5.0,
-            rx_dot: 0.5,
-            ry: 6.0,
-            ry_dot: 0.6,
-            rz: 7.0,
-            rz_dot: 0.7,
+            r: Vector3::new(5.0, 6.0, 7.0),
+            r_dot: Vector3::new(0.5, 0.6, 0.7),
             epoch: 2010.0,
         };
         params.invert();
-        assert_float_eq!(params.tx, -1.0, abs_all <= 1e-4);
-        assert_float_eq!(params.tx_dot, -0.1, abs_all <= 1e-4);
-        assert_float_eq!(params.ty, -2.0, abs_all <= 1e-4);
-        assert_float_eq!(params.ty_dot, -0.2, abs_all <= 1e-4);
-        assert_float_eq!(params.tz, -3.0, abs_all <= 1e-4);
-        assert_float_eq!(params.tz_dot, -0.3, abs_all <= 1e-4);
+        assert_float_eq!(params.t.x, -1.0, abs_all <= 1e-4);
+        assert_float_eq!(params.t_dot.x, -0.1, abs_all <= 1e-4);
+        assert_float_eq!(params.t.y, -2.0, abs_all <= 1e-4);
+        assert_float_eq!(params.t_dot.y, -0.2, abs_all <= 1e-4);
+        assert_float_eq!(params.t.z, -3.0, abs_all <= 1e-4);
+        assert_float_eq!(params.t_dot.z, -0.3, abs_all <= 1e-4);
         assert_float_eq!(params.s, -4.0, abs_all <= 1e-4);
         assert_float_eq!(params.s_dot, -0.4, abs_all <= 1e-4);
-        assert_float_eq!(params.rx, -5.0, abs_all <= 1e-4);
-        assert_float_eq!(params.rx_dot, -0.5, abs_all <= 1e-4);
-        assert_float_eq!(params.ry, -6.0, abs_all <= 1e-4);
-        assert_float_eq!(params.ry_dot, -0.6, abs_all <= 1e-4);
-        assert_float_eq!(params.rz, -7.0, abs_all <= 1e-4);
-        assert_float_eq!(params.rz_dot, -0.7, abs_all <= 1e-4);
+        assert_float_eq!(params.r.x, -5.0, abs_all <= 1e-4);
+        assert_float_eq!(params.r_dot.x, -0.5, abs_all <= 1e-4);
+        assert_float_eq!(params.r.y, -6.0, abs_all <= 1e-4);
+        assert_float_eq!(params.r_dot.y, -0.6, abs_all <= 1e-4);
+        assert_float_eq!(params.r.z, -7.0, abs_all <= 1e-4);
+        assert_float_eq!(params.r_dot.z, -0.7, abs_all <= 1e-4);
         assert_float_eq!(params.epoch, 2010.0, abs_all <= 1e-4);
         params.invert();
-        assert_float_eq!(params.tx, 1.0, abs_all <= 1e-4);
-        assert_float_eq!(params.tx_dot, 0.1, abs_all <= 1e-4);
-        assert_float_eq!(params.ty, 2.0, abs_all <= 1e-4);
-        assert_float_eq!(params.ty_dot, 0.2, abs_all <= 1e-4);
-        assert_float_eq!(params.tz, 3.0, abs_all <= 1e-4);
-        assert_float_eq!(params.tz_dot, 0.3, abs_all <= 1e-4);
+        assert_float_eq!(params.t.x, 1.0, abs_all <= 1e-4);
+        assert_float_eq!(params.t_dot.x, 0.1, abs_all <= 1e-4);
+        assert_float_eq!(params.t.y, 2.0, abs_all <= 1e-4);
+        assert_float_eq!(params.t_dot.y, 0.2, abs_all <= 1e-4);
+        assert_float_eq!(params.t.z, 3.0, abs_all <= 1e-4);
+        assert_float_eq!(params.t_dot.z, 0.3, abs_all <= 1e-4);
         assert_float_eq!(params.s, 4.0, abs_all <= 1e-4);
         assert_float_eq!(params.s_dot, 0.4, abs_all <= 1e-4);
-        assert_float_eq!(params.rx, 5.0, abs_all <= 1e-4);
-        assert_float_eq!(params.rx_dot, 0.5, abs_all <= 1e-4);
-        assert_float_eq!(params.ry, 6.0, abs_all <= 1e-4);
-        assert_float_eq!(params.ry_dot, 0.6, abs_all <= 1e-4);
-        assert_float_eq!(params.rz, 7.0, abs_all <= 1e-4);
-        assert_float_eq!(params.rz_dot, 0.7, abs_all <= 1e-4);
+        assert_float_eq!(params.r.x, 5.0, abs_all <= 1e-4);
+        assert_float_eq!(params.r_dot.x, 0.5, abs_all <= 1e-4);
+        assert_float_eq!(params.r.y, 6.0, abs_all <= 1e-4);
+        assert_float_eq!(params.r_dot.y, 0.6, abs_all <= 1e-4);
+        assert_float_eq!(params.r.z, 7.0, abs_all <= 1e-4);
+        assert_float_eq!(params.r_dot.z, 0.7, abs_all <= 1e-4);
         assert_float_eq!(params.epoch, 2010.0, abs_all <= 1e-4);
     }
 
diff --git a/swiftnav/src/reference_frame/params.rs b/swiftnav/src/reference_frame/params.rs
index a993148..3649019 100644
--- a/swiftnav/src/reference_frame/params.rs
+++ b/swiftnav/src/reference_frame/params.rs
@@ -1,3 +1,5 @@
+use nalgebra::Vector3;
+
 use super::{ReferenceFrame, TimeDependentHelmertParams, Transformation};
 
 pub const TRANSFORMATIONS: [Transformation; 34] = [
@@ -5,20 +7,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF2014,
         params: TimeDependentHelmertParams {
-            tx: -1.4,
-            tx_dot: 0.0,
-            ty: -0.9,
-            ty_dot: -0.1,
-            tz: 1.4,
-            tz_dot: 0.2,
+            t: Vector3::new(-1.4, -0.9, 1.4),
+            t_dot: Vector3::new(0.0, -0.1, 0.2),
             s: -0.42,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2015.0,
         },
     },
@@ -26,20 +20,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF2008,
         params: TimeDependentHelmertParams {
-            tx: 0.2,
-            tx_dot: 0.0,
-            ty: 1.0,
-            ty_dot: -0.1,
-            tz: 3.3,
-            tz_dot: 0.1,
+            t: Vector3::new(0.2, 1.0, 3.3),
+            t_dot: Vector3::new(0.0, -0.1, 0.1),
             s: -0.29,
             s_dot: 0.03,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2015.0,
         },
     },
@@ -47,20 +33,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF2005,
         params: TimeDependentHelmertParams {
-            tx: 2.7,
-            tx_dot: 0.3,
-            ty: 0.1,
-            ty_dot: -0.1,
-            tz: -1.4,
-            tz_dot: 0.1,
+            t: Vector3::new(2.7, 0.1, -1.4),
+            t_dot: Vector3::new(0.3, -0.1, 0.1),
             s: 0.65,
             s_dot: 0.03,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2015.0,
         },
     },
@@ -68,20 +46,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF2000,
         params: TimeDependentHelmertParams {
-            tx: -0.2,
-            tx_dot: 0.1,
-            ty: 0.8,
-            ty_dot: 0.0,
-            tz: -34.2,
-            tz_dot: -1.7,
+            t: Vector3::new(-0.2, 0.8, -34.2),
+            t_dot: Vector3::new(0.1, 0.0, -1.7),
             s: 2.25,
             s_dot: 0.11,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2015.0,
         },
     },
@@ -89,20 +59,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF97,
         params: TimeDependentHelmertParams {
-            tx: 6.5,
-            tx_dot: 0.1,
-            ty: -3.9,
-            ty_dot: -0.6,
-            tz: -77.9,
-            tz_dot: -3.1,
+            t: Vector3::new(6.5, -3.9, -77.9),
+            t_dot: Vector3::new(0.1, -0.6, -3.1),
             s: 3.98,
             s_dot: 0.12,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.36,
-            rz_dot: 0.02,
+            r: Vector3::new(0.0, 0.0, 0.36),
+            r_dot: Vector3::new(0.0, 0.0, 0.02),
             epoch: 2015.0,
         },
     },
@@ -110,20 +72,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF96,
         params: TimeDependentHelmertParams {
-            tx: 6.5,
-            tx_dot: 0.1,
-            ty: -3.9,
-            ty_dot: -0.6,
-            tz: -77.9,
-            tz_dot: -3.1,
+            t: Vector3::new(6.5, -3.9, -77.9),
+            t_dot: Vector3::new(0.1, -0.6, -3.1),
             s: 3.98,
             s_dot: 0.12,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.36,
-            rz_dot: 0.02,
+            r: Vector3::new(0.0, 0.0, 0.36),
+            r_dot: Vector3::new(0.0, 0.0, 0.02),
             epoch: 2015.0,
         },
     },
@@ -131,20 +85,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF94,
         params: TimeDependentHelmertParams {
-            tx: 6.5,
-            tx_dot: 0.1,
-            ty: -3.9,
-            ty_dot: -0.6,
-            tz: -77.9,
-            tz_dot: -3.1,
+            t: Vector3::new(6.5, -3.9, -77.9),
+            t_dot: Vector3::new(0.1, -0.6, -3.1),
             s: 3.98,
             s_dot: 0.12,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.36,
-            rz_dot: 0.02,
+            r: Vector3::new(0.0, 0.0, 0.36),
+            r_dot: Vector3::new(0.0, 0.0, 0.02),
             epoch: 2015.0,
         },
     },
@@ -152,20 +98,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF93,
         params: TimeDependentHelmertParams {
-            tx: -65.8,
-            tx_dot: -2.8,
-            ty: 1.9,
-            ty_dot: -0.2,
-            tz: -71.3,
-            tz_dot: -2.3,
+            t: Vector3::new(-65.8, 1.9, -71.3),
+            t_dot: Vector3::new(-2.8, -0.2, -2.3),
             s: 4.47,
             s_dot: 0.12,
-            rx: -3.36,
-            rx_dot: -0.11,
-            ry: -4.33,
-            ry_dot: -0.19,
-            rz: 0.75,
-            rz_dot: 0.07,
+            r: Vector3::new(-3.36, -4.33, 0.75),
+            r_dot: Vector3::new(-0.11, -0.19, 0.07),
             epoch: 2015.0,
         },
     },
@@ -173,20 +111,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF92,
         params: TimeDependentHelmertParams {
-            tx: 14.5,
-            tx_dot: 0.1,
-            ty: -1.9,
-            ty_dot: -0.6,
-            tz: -85.9,
-            tz_dot: -3.1,
+            t: Vector3::new(14.5, -1.9, -85.9),
+            t_dot: Vector3::new(0.1, -0.6, -3.1),
             s: 3.27,
             s_dot: 0.12,
-            rx: 0.00,
-            rx_dot: 0.00,
-            ry: 0.00,
-            ry_dot: 0.00,
-            rz: 0.36,
-            rz_dot: 0.02,
+            r: Vector3::new(0.00, 0.00, 0.36),
+            r_dot: Vector3::new(0.00, 0.00, 0.02),
             epoch: 2015.0,
         },
     },
@@ -194,20 +124,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF91,
         params: TimeDependentHelmertParams {
-            tx: 26.5,
-            tx_dot: 0.1,
-            ty: 12.1,
-            ty_dot: -0.6,
-            tz: -91.9,
-            tz_dot: -3.1,
+            t: Vector3::new(26.5, 12.1, -91.9),
+            t_dot: Vector3::new(0.1, -0.6, -3.1),
             s: 4.67,
             s_dot: 0.12,
-            rx: 0.00,
-            rx_dot: 0.00,
-            ry: 0.00,
-            ry_dot: 0.00,
-            rz: 0.36,
-            rz_dot: 0.02,
+            r: Vector3::new(0.00, 0.00, 0.36),
+            r_dot: Vector3::new(0.00, 0.00, 0.02),
             epoch: 2015.0,
         },
     },
@@ -215,20 +137,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF90,
         params: TimeDependentHelmertParams {
-            tx: 24.5,
-            tx_dot: 0.1,
-            ty: 8.1,
-            ty_dot: -0.6,
-            tz: -107.9,
-            tz_dot: -3.1,
+            t: Vector3::new(24.5, 8.1, -107.9),
+            t_dot: Vector3::new(0.1, -0.6, -3.1),
             s: 4.97,
             s_dot: 0.12,
-            rx: 0.00,
-            rx_dot: 0.00,
-            ry: 0.00,
-            ry_dot: 0.00,
-            rz: 0.36,
-            rz_dot: 0.02,
+            r: Vector3::new(0.00, 0.00, 0.36),
+            r_dot: Vector3::new(0.00, 0.00, 0.02),
             epoch: 2015.0,
         },
     },
@@ -236,20 +150,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF89,
         params: TimeDependentHelmertParams {
-            tx: 29.5,
-            tx_dot: 0.1,
-            ty: 32.1,
-            ty_dot: -0.6,
-            tz: -145.9,
-            tz_dot: -3.1,
+            t: Vector3::new(29.5, 32.1, -145.9),
+            t_dot: Vector3::new(0.1, -0.6, -3.1),
             s: 8.37,
             s_dot: 0.12,
-            rx: 0.00,
-            rx_dot: 0.00,
-            ry: 0.00,
-            ry_dot: 0.00,
-            rz: 0.36,
-            rz_dot: 0.02,
+            r: Vector3::new(0.00, 0.00, 0.36),
+            r_dot: Vector3::new(0.00, 0.00, 0.02),
             epoch: 2015.0,
         },
     },
@@ -257,20 +163,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ITRF88,
         params: TimeDependentHelmertParams {
-            tx: 24.5,
-            tx_dot: 0.1,
-            ty: -3.9,
-            ty_dot: -0.6,
-            tz: -169.9,
-            tz_dot: -3.1,
+            t: Vector3::new(24.5, -3.9, -169.9),
+            t_dot: Vector3::new(0.1, -0.6, -3.1),
             s: 11.47,
             s_dot: 0.12,
-            rx: 0.10,
-            rx_dot: 0.00,
-            ry: 0.00,
-            ry_dot: 0.00,
-            rz: 0.36,
-            rz_dot: 0.02,
+            r: Vector3::new(0.10, 0.00, 0.36),
+            r_dot: Vector3::new(0.00, 0.00, 0.02),
             epoch: 2015.0,
         },
     },
@@ -278,20 +176,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::ETRF2020,
         params: TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.086,
-            ry: 0.0,
-            ry_dot: 0.519,
-            rz: 0.0,
-            rz_dot: -0.753,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.086, 0.519, -0.753),
             epoch: 1989.0,
         },
     },
@@ -299,20 +189,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2014,
         to: ReferenceFrame::ETRF2014,
         params: TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.085,
-            ry: 0.0,
-            ry_dot: 0.531,
-            rz: 0.0,
-            rz_dot: -0.770,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.085, 0.531, -0.770),
             epoch: 1989.0,
         },
     },
@@ -320,20 +202,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2005,
         to: ReferenceFrame::ETRF2005,
         params: TimeDependentHelmertParams {
-            tx: 56.0,
-            tx_dot: 0.0,
-            ty: 48.0,
-            ty_dot: 0.0,
-            tz: -37.0,
-            tz_dot: 0.0,
+            t: Vector3::new(56.0, 48.0, -37.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.054,
-            ry: 0.0,
-            ry_dot: 0.518,
-            rz: 0.0,
-            rz_dot: -0.781,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.054, 0.518, -0.781),
             epoch: 1989.0,
         },
     },
@@ -341,20 +215,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2000,
         to: ReferenceFrame::ETRF2000,
         params: TimeDependentHelmertParams {
-            tx: 54.0,
-            tx_dot: 0.0,
-            ty: 51.0,
-            ty_dot: 0.0,
-            tz: -48.0,
-            tz_dot: 0.0,
+            t: Vector3::new(54.0, 51.0, -48.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.081,
-            ry: 0.0,
-            ry_dot: 0.490,
-            rz: 0.0,
-            rz_dot: -0.792,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.081, 0.490, -0.792),
             epoch: 1989.0,
         },
     },
@@ -362,20 +228,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF97,
         to: ReferenceFrame::ETRF97,
         params: TimeDependentHelmertParams {
-            tx: 41.0,
-            tx_dot: 0.0,
-            ty: 41.0,
-            ty_dot: 0.0,
-            tz: -49.0,
-            tz_dot: 0.0,
+            t: Vector3::new(41.0, 41.0, -49.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.200,
-            ry: 0.0,
-            ry_dot: 0.500,
-            rz: 0.0,
-            rz_dot: -0.650,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.200, 0.500, -0.650),
             epoch: 1989.0,
         },
     },
@@ -383,20 +241,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF96,
         to: ReferenceFrame::ETRF96,
         params: TimeDependentHelmertParams {
-            tx: 41.0,
-            tx_dot: 0.0,
-            ty: 41.0,
-            ty_dot: 0.0,
-            tz: -49.0,
-            tz_dot: 0.0,
+            t: Vector3::new(41.0, 41.0, -49.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.200,
-            ry: 0.0,
-            ry_dot: 0.500,
-            rz: 0.0,
-            rz_dot: -0.650,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.200, 0.500, -0.650),
             epoch: 1989.0,
         },
     },
@@ -404,20 +254,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF94,
         to: ReferenceFrame::ETRF94,
         params: TimeDependentHelmertParams {
-            tx: 41.0,
-            tx_dot: 0.0,
-            ty: 41.0,
-            ty_dot: 0.0,
-            tz: -49.0,
-            tz_dot: 0.0,
+            t: Vector3::new(41.0, 41.0, -49.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.200,
-            ry: 0.0,
-            ry_dot: 0.500,
-            rz: 0.0,
-            rz_dot: -0.650,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.200, 0.500, -0.650),
             epoch: 1989.0,
         },
     },
@@ -425,20 +267,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF93,
         to: ReferenceFrame::ETRF93,
         params: TimeDependentHelmertParams {
-            tx: 19.0,
-            tx_dot: 0.0,
-            ty: 53.0,
-            ty_dot: 0.0,
-            tz: -21.0,
-            tz_dot: 0.0,
+            t: Vector3::new(19.0, 53.0, -21.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.320,
-            ry: 0.0,
-            ry_dot: 0.780,
-            rz: 0.0,
-            rz_dot: -0.670,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.320, 0.780, -0.670),
             epoch: 1989.0,
         },
     },
@@ -446,20 +280,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF92,
         to: ReferenceFrame::ETRF92,
         params: TimeDependentHelmertParams {
-            tx: 38.0,
-            tx_dot: 0.0,
-            ty: 40.0,
-            ty_dot: 0.0,
-            tz: -37.0,
-            tz_dot: 0.0,
+            t: Vector3::new(38.0, 40.0, -37.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.210,
-            ry: 0.0,
-            ry_dot: 0.520,
-            rz: 0.0,
-            rz_dot: -0.680,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.210, 0.520, -0.680),
             epoch: 1989.0,
         },
     },
@@ -467,20 +293,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF91,
         to: ReferenceFrame::ETRF91,
         params: TimeDependentHelmertParams {
-            tx: 21.0,
-            tx_dot: 0.0,
-            ty: 25.0,
-            ty_dot: 0.0,
-            tz: -37.0,
-            tz_dot: 0.0,
+            t: Vector3::new(21.0, 25.0, -37.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.210,
-            ry: 0.0,
-            ry_dot: 0.520,
-            rz: 0.0,
-            rz_dot: -0.680,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.210, 0.520, -0.680),
             epoch: 1989.0,
         },
     },
@@ -488,20 +306,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF90,
         to: ReferenceFrame::ETRF90,
         params: TimeDependentHelmertParams {
-            tx: 19.0,
-            tx_dot: 0.0,
-            ty: 28.0,
-            ty_dot: 0.0,
-            tz: -23.0,
-            tz_dot: 0.0,
+            t: Vector3::new(19.0, 28.0, -23.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.110,
-            ry: 0.0,
-            ry_dot: 0.570,
-            rz: 0.0,
-            rz_dot: -0.710,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.110, 0.570, -0.710),
             epoch: 1989.0,
         },
     },
@@ -509,20 +319,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF89,
         to: ReferenceFrame::ETRF89,
         params: TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.110,
-            ry: 0.0,
-            ry_dot: 0.570,
-            rz: 0.0,
-            rz_dot: -0.710,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.110, 0.570, -0.710),
             epoch: 1989.0,
         },
     },
@@ -530,20 +332,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2014,
         to: ReferenceFrame::NAD83_2011,
         params: TimeDependentHelmertParams {
-            tx: 1005.30,
-            tx_dot: 0.79,
-            ty: -1909.21,
-            ty_dot: -0.60,
-            tz: -541.57,
-            tz_dot: -1.44,
+            t: Vector3::new(1005.30, -1909.21, -541.57),
+            t_dot: Vector3::new(0.79, -0.60, -1.44),
             s: 0.36891,
             s_dot: -0.07201,
-            rx: -26.78138,
-            rx_dot: -0.06667,
-            ry: 0.42027,
-            ry_dot: 0.75744,
-            rz: -10.93206,
-            rz_dot: 0.05133,
+            r: Vector3::new(-26.78138, 0.42027, -10.93206),
+            r_dot: Vector3::new(-0.06667, 0.75744, 0.05133),
             epoch: 2010.0,
         },
     },
@@ -551,20 +345,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2014,
         to: ReferenceFrame::ETRF2014,
         params: TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.085,
-            ry: 0.0,
-            ry_dot: 0.531,
-            rz: 0.0,
-            rz_dot: -0.770,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.085, 0.531, -0.770),
             epoch: 1989.0,
         },
     },
@@ -572,20 +358,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2008,
         to: ReferenceFrame::NAD83_CSRS,
         params: TimeDependentHelmertParams {
-            tx: 1003.70,
-            tx_dot: 0.79,
-            ty: -1911.11,
-            ty_dot: -0.60,
-            tz: -543.97,
-            tz_dot: -1.34,
+            t: Vector3::new(1003.70, -1911.11, -543.97),
+            t_dot: Vector3::new(0.79, -0.60, -1.34),
             s: 0.38891,
             s_dot: -0.10201,
-            rx: -26.78138,
-            rx_dot: -0.06667,
-            ry: 0.42027,
-            ry_dot: 0.75744,
-            rz: -10.93206,
-            rz_dot: 0.05133,
+            r: Vector3::new(-26.78138, 0.42027, -10.93206),
+            r_dot: Vector3::new(-0.06667, 0.75744, 0.05133),
             epoch: 2010.0,
         },
     },
@@ -593,20 +371,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2014,
         to: ReferenceFrame::NAD83_CSRS,
         params: TimeDependentHelmertParams {
-            tx: 1005.30,
-            tx_dot: 0.79,
-            ty: -1909.21,
-            ty_dot: -0.60,
-            tz: -541.57,
-            tz_dot: -1.44,
+            t: Vector3::new(1005.30, -1909.21, -541.57),
+            t_dot: Vector3::new(0.79, -0.60, -1.44),
             s: 0.36891,
             s_dot: -0.07201,
-            rx: -26.78138,
-            rx_dot: -0.06667,
-            ry: 0.42027,
-            ry_dot: 0.75744,
-            rz: -10.93206,
-            rz_dot: 0.05133,
+            r: Vector3::new(-26.78138, 0.42027, -10.93206),
+            r_dot: Vector3::new(-0.06667, 0.75744, 0.05133),
             epoch: 2010.0,
         },
     },
@@ -614,20 +384,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::NAD83_CSRS,
         params: TimeDependentHelmertParams {
-            tx: 1003.90,
-            tx_dot: 0.79,
-            ty: -1909.61,
-            ty_dot: -0.70,
-            tz: -541.17,
-            tz_dot: -1.24,
+            t: Vector3::new(1003.90, -1909.61, -541.17),
+            t_dot: Vector3::new(0.79, -0.70, -1.24),
             s: -0.05109,
             s_dot: -0.07201,
-            rx: -26.78138,
-            rx_dot: -0.06667,
-            ry: 0.42027,
-            ry_dot: 0.75744,
-            rz: -10.93206,
-            rz_dot: 0.05133,
+            r: Vector3::new(-26.78138, 0.42027, -10.93206),
+            r_dot: Vector3::new(-0.06667, 0.75744, 0.05133),
             epoch: 2010.0,
         },
     },
@@ -635,20 +397,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::DREF91_R2016,
         params: TimeDependentHelmertParams {
-            tx: -3.0821,
-            tx_dot: -20.3181,
-            ty: 95.0769,
-            ty_dot: -20.3593,
-            tz: -73.5435,
-            tz_dot: 23.6394,
+            t: Vector3::new(-3.0821, 95.0769, -73.5435),
+            t_dot: Vector3::new(-20.3181, -20.3593, 23.6394),
             s: 7.4874,
             s_dot: -0.3306,
-            rx: 2.5445,
-            rx_dot: -0.5966,
-            ry: 17.6078,
-            ry_dot: 1.4967,
-            rz: -27.6123,
-            rz_dot: -0.5284,
+            r: Vector3::new(2.5445, 17.6078, -27.6123),
+            r_dot: Vector3::new(-0.5966, 1.4967, -0.5284),
             epoch: 2021.0,
         },
     },
@@ -657,20 +411,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2020,
         to: ReferenceFrame::WGS84_G2296,
         params: TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2024.0,
         },
     },
@@ -679,20 +425,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2014,
         to: ReferenceFrame::WGS84_G2139,
         params: TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2016.0,
         },
     },
@@ -701,20 +439,12 @@ pub const TRANSFORMATIONS: [Transformation; 34] = [
         from: ReferenceFrame::ITRF2008,
         to: ReferenceFrame::WGS84_G1762,
         params: TimeDependentHelmertParams {
-            tx: 0.0,
-            tx_dot: 0.0,
-            ty: 0.0,
-            ty_dot: 0.0,
-            tz: 0.0,
-            tz_dot: 0.0,
+            t: Vector3::new(0.0, 0.0, 0.0),
+            t_dot: Vector3::new(0.0, 0.0, 0.0),
             s: 0.0,
             s_dot: 0.0,
-            rx: 0.0,
-            rx_dot: 0.0,
-            ry: 0.0,
-            ry_dot: 0.0,
-            rz: 0.0,
-            rz_dot: 0.0,
+            r: Vector3::new(0.0, 0.0, 0.0),
+            r_dot: Vector3::new(0.0, 0.0, 0.0),
             epoch: 2005.0,
         },
     },