如何计算昼夜平分点/至日时刻？

What algorithms or formulas are available for computing the equinoxes and solstices? I found one of these a few years ago and implemented it, but the precision was not great: the time of day seemed to be assumed at 00:00, 06:00, 12:00, and 18:00 UTC depending on which equinox or solstice was computed. Wikipedia gives these computed out to the minute, so something more exact must be possible. Libraries for my favorite programming language also come out to those hardcoded times, so I assume they are using the same or a similar algorithm as the one I implemented.What algorithms or formulas are available for c