The Bloch Sphere is regarded as the most "intuitive" way of explaining a 2-level quantum system in computation and rotations of states described on Bloch sphere provides a really easy picture. Despite that, I've been having some problems with understanding this representation of quantum states. I read quite a few articles and answers on StackExchange too, but most of them try to explain things using Pauli Matrices and Density Matrices. But the real problem I've been struggling to solve and understand would be better stated as follows-
Prove that a 2-level Quantum State (qubits) is mathematically equivalent to a point on the Unit Sphere in $\mathbb{R}^3$.
Most of the explanations I've seen are based on hand-wavy arguments and lack proper formalism. I've been trying to prove this without involving Pauli matrices or Density matrices. By using the arguments of normalization and global-phase invariance, I've been able to deduce that we can write an arbitrary state as follows- $$|\psi \rangle=r|0\rangle + (a+ib)|1\rangle $$ where $r\in \mathbb{R}^{\geq0}$ and $ a,b\in \mathbb{R}$ with the constraint $r^2+a^2+b^2=1.$ If $a,b,r$ are the co-ordinates in the Cartesian system, then since we have $r\geq0$, the equation results in a hemisphere.
If anyone has an explanation or a proof of how qubits have an equivalent description on the Bloch sphere, or some suggestion, I would be grateful.