Rindler space

We proved the hyperbolic motion viewed in the lab frame of a relativistic particle with constant proper acceleration as in this post : \begin{equation}t(\tau) = \frac{c}{a}\sinh\left(\frac{a\tau}{c}\right)\,,\quad x(\tau) = \frac{c^2}{a}\cosh\left(\frac{a\tau}{c}\right)\,,\tag{1} \end{equation} where \tau is the proper time of the particle. The next question is: What is the time and space coordinates transformation between the lab frame (t, x) and the particle frame? The time in the particle frame is just the proper time \tau and we denote the space coordinate in the particle frame by \xi. The transformation between (t, x) and (\tau, \xi) is obviously not Lorentz transformation since the particle frame is not an inertial frame because of the acceleration. Instead, Eq. (1) is a special case of the transformation at \xi=0. The key insight is that although the particle frame is not an inertial frame, there exists a series of instantaneous co-moving inertial frames at each ti...