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Detailed information on the gravitational effect of the Earth's topographic and isostatic masses can be calculated by gravity forward modeling. Within this book, the tesseroid-based Rock-Water-Ice (RWI) approach is developed, which allows a rigorous separate modeling of the Earth's rock, water, and ice masses with variable density values. Besides a discussion and evaluation of the RWI approach, applications in the context of the GOCE satellite mission and height system unification are presented.