Basics of Orbital Mechanics II

Modeling the Space Environment

Manuel Ruiz Delgado

European Masters in Aeronautics and Space

E.T.S.I. Aeronauticos
Universidad Politecnica de Madrid
April 2008

Basics of Orbital Mechanics II p. 1/24

 Basics of Orbital Mechanics II

Keplerian and Perturbed Motion

Magnitude of the Perturbations
Special Perturbations all, numerical
Enckes Method
Cowells Method
General Perturbations some, analytical, approximate
Osculating Orbit
Variation of Parameters
Lagrange Equations potential
Gauss Equations potential & not potential
General Perturbations: Analytical approx/Semianalytical
Numerical Integration

Basics of Orbital Mechanics II p. 2/24

 Keplerian and Perturbed Motion

P1 rP2
r = G (M + m) 3 +
|r| m1 m2
| {z } | {z }
Kepler Problem Perturbation

ak
m
z }|
rk
{ rp
rk = G (M + m)
|rk |3 rk
M
rp
rp = G (M + m) 3
+ ap
|rp |

Usually, |ap | |ak | rp rk How small?

Basics of Orbital Mechanics II p. 3/24

 Perturbations (LEO)
Accelerations of the Satellite (BC=50)
1e+006
Kepler
J2
C22
10000 Shuttle Sun
Moon
100 Drag (low)
Drag (high)
Acceleration (m/s2)

Prad
1
ISS
0.01

0.0001

1e006

1e008
0 100 200 300 400 500 600 700 800 900
Height (km)
Basics of Orbital Mechanics II p. 4/24
 Perturbations (GEO)
Accelerations of the Satellite (BC=50)
1e+006
Kepler
J2
10000 C22
Sun
Moon
100 Drag (low)
Drag (high)
Acceleration (m/s2)

Prad
1

0.01
GPS
GEO
0.0001

1e006

1e008
0 5000 10000 15000 20000 25000 30000 35000 40000
Height (km)
Basics of Orbital Mechanics II p. 5/24
 Enckes Method
Compute only the difference r p er
tu r
be
rk rp

d
rk = 3 rp = 3 + ap
|rk | |rp | r
r = rp rk |r| |rp | rp
rk v0
M
r0 Epoch

n
leria
kep
Basics of Orbital Mechanics II p. 6/24
 Enckes Method
Compute only the difference r p er
tu r
be
rk rp

d
rk = 3 rp = 3 + ap
|rk | |rp | r
r = rp rk |r| |rp | rp
rp rk rk v0
r = rp rk = 3 + 3 + ap = M
|rp | |rk |
r0 Epoch

n
leria
kep
Basics of Orbital Mechanics II p. 6/24
 Enckes Method
Compute only the difference r p er
tu r
be
rk rp

d
rk = 3 rp = 3 + ap
|rk | |rp | r
r = rp rk |r| |rp | rp
rp rk rk v0
r = rp rk = 3 + 3 + ap = M
|rp | |rk |
! r0 Epoch

n
3
|rk |

leria
r = 3 r + 3 1 3 rp + ap

kep
|rk | |rk | |rp |

Basics of Orbital Mechanics II p. 6/24

 Enckes Method
Compute only the difference r p er
tu r
be
rk rp

d
rk = 3 rp = 3 + ap
|rk | |rp | r
r = rp rk |r| |rp | rp
rp rk rk v0
r = rp rk = 3 + 3 + ap = M
|rp | |rk |
! r0 Epoch

n
3
|rk |

leria
r = 3 r + 3 1 3 rp + ap

kep
|rk | |rk | |rp |
|rk |3 3 + 3q + q 2 r (r 2rp )
1 3 = f (q) = q 3 q=
|rp | 1 + (1 + q) 2 rp rp

About f (q), cf. Battin, p. 389 and 449

Basics of Orbital Mechanics II p. 6/24
 Enckes Method
Compute only the difference r p er
tu r
be
rk rp

d
rk = 3 rp = 3 + ap
|rk | |rp | r
r = rp rk |r| |rp | rp
rp rk rk v0
r = rp rk = 3 + 3 + ap = M
|rp | |rk |
! r0 Epoch

n
3
|rk |

leria
r = 3 r + 3 1 3 rp + ap

kep
|rk | |rk | |rp |
|rk |3 3 + 3q + q 2 r (r 2rp )
1 3 = f (q) = q 3 q=
|rp | 1 + (1 + q) 2 rp rp

r = 3 r 3 f (q) rp + ap
|rk | |rk |
About f (q), cf. Battin, p. 389 and 449
Basics of Orbital Mechanics II p. 6/24
 Enckes Method
Compute only the difference r p er
tu r
be
rk rp

d

rk = 3 rp = 3 + ap Epoch 2
|rk | |rp |
r = rp rk |r| |rp | rp
rp rk
r = rp rk = 3 + 3 + ap = M
|rp | |rk |
!
3
|rk |

n
leria
r = 3 r + 3 1 3 rp + ap
|rk | |rk | |rp |

kep
|rk |3 3 + 3q + q 2 r (r 2rp )
1 3 = f (q) = q 3 q=
|rp | 1 + (1 + q) 2 rp rp
if r ,  rectify: r = 0
r = 3 r 3 f (q) rp + ap
|rk | |rk | rk 1 rk 2

About f (q), cf. Battin, p. 389 and 449

Basics of Orbital Mechanics II p. 6/24
 Loss of Precision

REAL*4 = Single-Precision = 6-7 DIGITS

REAL*8 = Double-Precision = 15-16 DIGITS
0.100000000000000 E+00
+ 0.123456789012345 E-10
= 0.100000000000000 E+00
+ 0.000000000012345 E+00
= 0.100000000012345 E+00

0.123456789012345 E+00
- 0.123456789000000 E+00
= 0.000000000012345 E+00
= 0.123450000000000 E-10

Basics of Orbital Mechanics II p. 7/24

 Loss of Precision

REAL*4 = Single-Precision = 6-7 DIGITS

REAL*8 = Double-Precision = 15-16 DIGITS
0.100000000000000 E+00
+ 0.123456789012345 E-10
= 0.100000000000000 E+00
+ 0.000000000012345 E+00
= 0.100000000012345 E+00

|rk |3 0.123456789012345 E+00

1 3 - 0.123456789000000 E+00
|rp |
= 0.000000000012345 E+00
= 0.123450000000000 E-10

Basics of Orbital Mechanics II p. 7/24

 Cowells Formulation

Direct numerical integration of the equations

r
ODE: r = 3 + ap (r, r, t)
|r| r = r (t, t0 , r0 , r0 )
IC: t0 , r0 , r0

x
vx
vx





y




v y





v y






z vz vz
x= x = = x = f (x, t)

vx
x

r 3 x + ax




v y





y




r 3 y + ay






vz z r3 z + az

Basics of Orbital Mechanics II p. 8/24

 Osculating Orbit - Variation of Parameters
p er
tu r
be

d
Satellite in r0 , v0 at Epoch t0
Follows perturbed trajectory rp (t)

M v0
r0 Epoch

Basics of Orbital Mechanics II p. 9/24

 Osculating Orbit - Variation of Parameters
p er
tu r
be

d
Satellite in r0 , v0 at Epoch t0
Follows perturbed trajectory rp (t)
Osculating Orbit at r0 , v0 : v0
M
The Keplerian orbit followed by the satellite r0 Epoch

if all perturbations become zero from this

point on.

an
eri
pl
ke

Basics of Orbital Mechanics II p. 9/24

 Osculating Orbit - Variation of Parameters
p er
tu r
be

d
Satellite in r0 , v0 at Epoch t0
Follows perturbed trajectory rp (t) rp (t)
Osculating Orbit at r0 , v0 : v0
M
The Keplerian orbit followed by the satellite r0 Epoch

in g
if all perturbations become zero from this

ulat
point on.

an
eri
o sc
pl
Osculating orbit elements can be used as coordinates ke

r0 , v0 , t0 i, , , a, e, , , t0
rp (t), vp (t) , t i(t), (t), (t), a(t), e(t), (t) , (t), t

Basics of Orbital Mechanics II p. 9/24

 Variation of Parameters: Fast/Slow variables

Fast Variables:
M,
, M , , t
r(t) , v(t)

Slow Variables:
i, , , a, e, (M0 )

Basics of Orbital Mechanics II p. 10/24

 Variation of Parameters: Secular/Periodic

Secular + Long periodic + Short periodic

Secular + Long periodic
Secular
Short Orbital period
Orbital Parameter

Basics of Orbital Mechanics II p. 11/24

 Variation of Parameters - Lagrange

Variation of Parameters:
r
r = 3 + ap
|r|
r = r (i(t), (t), (t), a(t), e(t), t)
x = i, , , a, e, T
x = f (x, t)

Lagrange Planetary Equations: Conservative perturbations

ap = R R(i, , , a, e, M0 ) M0 = n
T
x = i, , , a, e, M0
x = f (x, R)

Basics of Orbital Mechanics II p. 12/24

 Lagrange Planetary Equations

  Singularities for
di 1 R R low eccentricity
= cos i
dt na2 1 e2 sin i
or inclination
d 1 R
=
dt na 1 e2 sin i i
2

d 1 e2 R cos i R
= 2

dt na e e na2 1 e2 sin i i
da 2 R
=
dt na M0
2

de 1 e R 1 e2 R
= 2

dt na e M0 na2 e
dM0 1 e2 R 2 R
= 2
dt na e e na a

Basics of Orbital Mechanics II p. 13/24

 Lagrange Planetary Equations

  Singularities for
di 1 R R low eccentricity
= cos i
dt na2 1 e2 sin i
or inclination
d 1 R
=
dt na 1 e2 sin i i
2

d 1 e2 R cos i R
= 2

dt na e e na2 1 e2 sin i i
da 2 R
=
dt na M0
2

de 1 e R 1 e2 R
= 2

dt na e M0 na2 e
dM0 1 e2 R 2 R  2
1e R 2

R 

= 2 M = n na2 e e
na a a
dt na e e na a

Basics of Orbital Mechanics II p. 13/24

 Lagrange VOP: Kozais Method

Separate disturbing potential R into constant/periodic, and orders of

magnitude: R = R1 + R2 + R3 + R4
2  
3 J 2 RE 1 1 2 2 1/2


R1 = sin i 1 e R2 = 0
2 a3 3 2
3  
3 J 3 RE 5 2

2 5/2
R3 = 4
sin i 1 sin i e 1 e sin
2 a 4
2   
3 J 2 RE a  3 1 1 2  r 3

2 3/2
R4 = 3
sin i 1 1e +
2 a r 3 2 a

1 2
+ sin i cos 2 ( + )
2

Only gravitational perturbations J2 (flattening) and J3 (pear-shape)

are included.
Basics of Orbital Mechanics II p. 14/24
 Lagrange VOP: Kozais Method (secular)
 3
di 3 RE 2

2 da
= n J3 cos i 4 5 sin i sin i cos =0
dt 8 p dt
 2  3
d 3 RE 3 RE 2


= n J2 cos i n J3 15 sin i 4 e cot i sin
dt 2 p 8 p
 2  3 
d 3 RE 2

3 RE 2


= n J2 4 5 sin i + n J3 4 5 sin i
dt 4 p 8 p
2 2 2


sin i e cos i 2


+ 2 sin i 13 15 sin i e sin
e sin i
 3
de 3 RE 2

2


= n J3 sin i 4 5 sin i 1 e cos
dt 8 p
  2   
dM 3 RE 3 2

2 1/2
= n 1 + J2 1 sin i 1 e
dt 2 p 2
 3 2

1/2
3 RE 2

2

1e
n J3 sin i 4 5 sin i 1 4e sin
8 p e
Basics of Orbital Mechanics II p. 15/24
 Gauss Planetary Equations

Conservative and not conservative perturbations

Use the Orbital Frame for ap
ap = ar ur + a u + az uz
z1
h
i ur
u Sat. ric
.
P e

e
i
u
N y1
x1 

Basics of Orbital Mechanics II p. 16/24

 Gauss Planetary Equations

di r cos Singularities for low

= az eccentricity or inclination
dt 2
na 1 e 2

d r sin
= az
dt 2
na 1 e sin i2
   
d 1e 2 r r cos i sin
= cos ar + sin 1 + a az
dt na e p h sin i
da 2  p 
= e sin ar + a
dt n 1 e2 r
   
de 1e 2 e + cos
= sin ar + cos + a
dt na 1 + e cos
dM0 1
= 2
[(p cos 2er) ar (p + r) sin a ]
dt na e
b
M =n+ [(p cos 2re) ar (p+r) sin a ]
ah e

Basics of Orbital Mechanics II p. 17/24

 Numerical Methods: Euler

y
y(t1 )

y = f (y, t) y1
y0
y0 = y(t0 )
h t
y1 = y0 + f [y(t0 ), t0 ] h
... t0 t1

yn = yn1 + f [yn1 , t0 + (n 1)h] h

...
Error = O(h2 )

Basics of Orbital Mechanics II p. 18/24

 Numerical Methods: Midpoint

y
y = f (y, t) y(t1 )

y0 = y(t0 ) y0

h t
t0 t1

Basics of Orbital Mechanics II p. 19/24

 Numerical Methods: Midpoint

y
y = f (y, t) y1 y(t1 )

y0 = y(t0 ) y0
y1 = y0 + f [y(t0 ), t0 ] h/2
h t
t0 t1

Basics of Orbital Mechanics II p. 19/24

 Numerical Methods: Midpoint

y
y = f (y, t) y1 y(t1 )

y0 = y(t0 ) y0
y1 = y0 + f [y(t0 ), t0 ] h/2
y1 = f [y1 , t0 + h/2] h t
t0 t1

Basics of Orbital Mechanics II p. 19/24

 Numerical Methods: Midpoint

y
y = f (y, t) y1 y(t1 )

y0 = y(t0 ) y0 y2
y1 = y0 + f [y(t0 ), t0 ] h/2
y1 = f [y1 , t0 + h/2] h t
y2 = y0 + y1 h t0 t1
...
Error = O(h3 )

Basics of Orbital Mechanics II p. 19/24

 Numerical Methods: Runge-Kutta 4

y = f (y, t)

y(tn+1 )

yn

tn h tn+1
Basics of Orbital Mechanics II p. 20/24
 Numerical Methods: Runge-Kutta 4

y = f (y, t)
k1 = h f (yn , tn ) y1 = yn + k1 /2

y1
y(tn+1 )

yn

tn h tn+1
Basics of Orbital Mechanics II p. 20/24
 Numerical Methods: Runge-Kutta 4

y = f (y, t)
k1 = h f (yn , tn ) y1 = yn + k1 /2
k2 = h f (y1 , tn + h/2) y2 = yn + k2 /2

y1
y(tn+1 )

y2
yn

tn h tn+1
Basics of Orbital Mechanics II p. 20/24
 Numerical Methods: Runge-Kutta 4

y = f (y, t)
k1 = h f (yn , tn ) y1 = yn + k1 /2
k2 = h f (y1 , tn + h/2) y2 = yn + k2 /2
k3 = h f (y2 , tn + h/2) y3 = yn + k3

y1 y3
y(tn+1 )

y2
yn

tn h tn+1
Basics of Orbital Mechanics II p. 20/24
 Numerical Methods: Runge-Kutta 4

y = f (y, t)
k1 = h f (yn , tn ) y1 = yn + k1 /2
k2 = h f (y1 , tn + h/2) y2 = yn + k2 /2
k3 = h f (y2 , tn + h/2) y3 = yn + k3
k4 = h f (y3 , tn + h) y4 = yn + k4

y1 y3
y(tn+1 )

y2 y4
yn

tn h tn+1
Basics of Orbital Mechanics II p. 20/24
 Numerical Methods: Runge-Kutta 4

y = f (y, t)
k1 = h f (yn , tn ) y1 = yn + k1 /2
k2 = h f (y1 , tn + h/2) y2 = yn + k2 /2
k3 = h f (y2 , tn + h/2) y3 = yn + k3
k4 = h f (y3 , tn + h) y4 = yn + k4
k1 k2 k3 k4
yn+1 = yn + 6 + 3 + 3 + 6 y1 y3
Error = O(h5 ) y(tn+1 )
yn+1

y2 y4
yn

tn h tn+1
Basics of Orbital Mechanics II p. 20/24
 Numerical Methods: Burlish-Stoer

y = f (y, t), yn , tn

yn

tn h tn+1
Basics of Orbital Mechanics II p. 21/24
 Numerical Methods: Burlish-Stoer

y = f (y, t), yn , tn k
z }| {
h
Compute the interval h with n steps n, n = 2, 4, 6 . . .

b n=2
b
n=4
b b
b
b
n=6
b
b
b

yn
b

tn h tn+1
Basics of Orbital Mechanics II p. 21/24
 Numerical Methods: Burlish-Stoer

y = f (y, t), yn , tn k
z }| {
h
Compute the interval h with n steps n, n = 2, 4, 6 . . .

b n=2
y
b
n=4
b b
b
b
n=6
b
b
b

0 h h h
6 4 2 yn
b

tn h tn+1
Basics of Orbital Mechanics II p. 21/24
 Numerical Methods: Burlish-Stoer

y = f (y, t), yn , tn k
z }| {
h
Compute the interval h with n steps n, n = 2, 4, 6 . . .
Polynomial extrapolation to n , h 0
b n=2
y
b
n=4
b b
b
b
n=6
b
b
b

y(tn+1 )
b

0 h h h
6 4 2 yn
b

2k+1


Error = O h

tn h tn+1
Basics of Orbital Mechanics II p. 21/24
 Adaptive Stepsize Control

Set a truncation error and stepsize h

Give a step with a method of order n
Repeat the step with order n + 1
If the difference is > , decrease h
If the difference is < , increase h
Each section of the curve is integrated with the maximum h
compatible with
This reduces the number of steps, but may require more derivative
evaluations

Basics of Orbital Mechanics II p. 22/24

 COWELL Program
Begin y = f (y, t)

Initializations
KB/File aKep
Input data




agrav

a
ODE Integrator Call Int step Call Derivs 3Body

aDrag



aP rad
Compute elements
..
Compute Kepler .

INTTRAJ.DAT
Save Data OSCELEM.DAT Plot
KEPTRAJ.DAT

End
Basics of Orbital Mechanics II p. 23/24
 ODE Integrator
Adaptive Stepsize

ti = ti1 + t
Fixed Step

Adjust t
ti = ti1 + t

QS Integr Step Derivs

No Dumb Integr Step Derivs > <
No

t = tf ? Error

Yes OK

t = tf ?

Yes

Basics of Orbital Mechanics II p. 24/24