As mentioned in the comments, the translation is shown in: Volker Diekert and Paul Gastin. "First-order definable languages." (2008) http://www.lsv.fr/Publis/PAPERS/PDF/DG-WT08.pdf And it goes via a characterization of $LTL$ as $FO[<]$.


Sorry to provide the same answer as for this question, but this was proved in [1, Theorem 3.1]. [1] J. Cohen, D. Perrin and J.-É. Pin, On the expressive power of temporal logic for finite words, J. Comput. System Sci. 46 (1993), 271-294.

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