Basics of Orbital Mechanics I: Modeling The Space Environment

Basics of Orbital Mechanics I
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 I p. 1/20

Basics of Orbital Mechanics I
Two-Body Problem
Inertial Formulation
Center of Mass Formulation
Relative Formulation
Simplifications Kepler Problem
Kepler Problem
Integrals
Trajectory
Energy and Period
Velocity
Time-Law: Kepler Equation
Classical Orbital Elements

Two-Body Problem: Inertial Formulation
m1 , m2 point masses; S1 inertial reference
r2
r1
S1


F12 , F21 gravitational attraction
F21
F12
r2
r1
S1


P2
P1 , P2 other forces (Perturbations)
F21
P1
F12
r2
r1
S1


P2
F21
P1 G m 1 m2
F12 m1 r1 = (r2 r1 ) + P1
r2 3
|r2 r1 |
G m 1 m2
m2 r2 = 3 (r2 r1 ) + P2
r1 |r2 r1 |
S1


P2
F21
P1 G m 1 m2
F12 m1 r1 = (r2 r1 ) + P1
r2 3
|r2 r1 |
G m 1 m2
m2 r2 = 3 (r2 r1 ) + P2
r1 |r2 r1 |
S1 Numerical integration: r1 (t), r2 (t)

Two-Body Problem: COM Formulation
G Center of mass of m1 , m2
r2
r1
S1

(m1 + m2 ) rG = m1 r1 + m2 r2
G
r2
r1
S1

S0 (m1 + m2 ) rG = m1 r1 + m2 r2
G S0 Non-rotating reference, origin in G
r2
r1
S1

r2 S0 (m1 + m2 ) rG = m1 r1 + m2 r2
(
r1 r1 = r1 rG = m1m+m
2
2
(r1 r2 )
r2 r2 = r2 rG = m1m+m
1
2
(r 2 r 1 ) = m1
m2 r1
r1
S1

r2 S0 (m1 + m2 ) rG = m1 r1 + m2 r2
(
r1 r1 = r1 rG = m1m+m
2
2
(r1 r2 )
r2 r2 = r2 rG = m1m+m
1
2
(r 2 r 1 ) = m1
m2 r1
r1
(m1 + m2 ) rG = m1 r1 + m2 r2 = P1 + P2
S1

r2 S0 (m1 + m2 ) rG = m1 r1 + m2 r2
(
r1 r1 = r1 rG = m1m+m
2
2
(r1 r2 )
r2 r2 = r2 rG = m1m+m
1
2
(r 2 r 1 ) = m1
m2 r1
r1
(m1 + m2 ) rG = m1 r1 + m2 r2 = P1 + P2
S1
m1 r1 = m1 r1 m1 rG =

r2 S0 (m1 + m2 ) rG = m1 r1 + m2 r2
(
r1 r1 = r1 rG = m1m+m
2
2
(r1 r2 )
r2 r2 = r2 rG = m1m+m
1
2
(r 2 r 1 ) = m1
m2 r1
r1
(m1 + m2 ) rG = m1 r1 + m2 r2 = P1 + P2
S1
m1 r1 = m1 r1 m1 rG =
G m1 m2 m1
= |r2 r1 |3
(r2 r1 ) + P1 m1 +m2 (P1 + P2 )

r2 S0 (m1 + m2 ) rG = m1 r1 + m2 r2
(
r1 r1 = r1 rG = m1m+m
2
2
(r1 r2 )
r2 r2 = r2 rG = m1m+m
1
2
(r 2 r 1 ) = m1
m2 r1
r1
(m1 + m2 ) rG = m1 r1 + m2 r2 = P1 + P2
S1
m1 r1 = m1 r1 m1 rG =
G m1 m2 m1
= |r2 r1 |3
(r2 r1 ) + P1 m1 +m2 (P1 + P2 )

r2 S0 (m1 + m2 ) rG = m1 r1 + m2 r2
(
r1 r1 = r1 rG = m1m+m
2
2
(r1 r2 )
r2 r2 = r2 rG = m1m+m
1
2
(r 2 r 1 ) = m1
m2 r1
r1
(m1 + m2 ) rG = m1 r1 + m2 r2 = P1 + P2
S1
m1 r1 = m1 r1 m1 rG =
G m1 m2 m1
= |r2 r1 |3
(r2 r1 ) + P1 m1 +m2 (P1 + P2 )
2
r1
m1 r1 = Gm1 m2 1 + m1
m2 |r1 |3
+ m1 m2
m1 +m2
P1
m1 P2
m2

Two-Body Problem: Primary Formulation
S2 Non-rotating Non-inertial, origin in m2
m1
m2 S2


r = r1 r2 Relative position vector
m1
m2 S2


m1 COM motion: (m1 + m2 ) rG = P1 + P2
m2 S2



Relative motion: r = r1 r2
r
m2 S2



r
m2 S2
h i h i
G m2
r = |r2 r1 |3
(r2 r1 ) + P1
m1 |rGr
m1
|3
(r2 r1 ) + P2
m2
2 1



r
m2 S2
h i h i
G m2
r = |r2 r1 |3
(r2 r1 ) + P1
m1 |rGr
m1
|3
(r2 r1 ) + P2
m2
2 1
r P1 P2
r = G (m2 + m1 ) + m1 m2
|r|3


P1 r = r1 r2 Relative position vector

r F12
m2 S2
h i h i
G m2
r = |r2 r1 |3
(r2 r1 ) + P1
m1 |rGr
m1
|3
(r2 r1 ) + P2
m2
2 1
r P1 P2
r = G (m2 + m1 ) + m1 m2
|r|3
Direct terms

P2 Relative motion: r = r1 r2
r F12
F21
m2 S2
h i h i
G m2
r = |r2 r1 |3
(r2 r1 ) + P1
m1 |rGr
m1
|3
(r2 r1 ) + P2
m2
2 1
r P1 P2
r = G (m2 + m1 ) + m1 m2
|r|3
Indirect terms


F21
r F12
P2
m1
m2 S2
h i h i
G m2
r = |r2 r1 |3
(r2 r1 ) + P1
m1 |rGr
m1
|3
(r2 r1 ) + P2
m2
2 1
r P1 P2
r = G (m2 + m1 ) + m1 m2
|r|3
Indirect terms as inertia forces m1 + m2

Two-Body Problem: Formulations
1
1 1
r1 r
G r2
G
2
2 2
Inertial motion Relative to Primary
Relative to COM

Two-Body Problem: Simplifications
r P1 P2
r = G (m2 + m1 ) 3 +
|r| m1 m2
| {z } | {z }
Kepler Problem Perturbation

r P1 P2
r = G (m2 + m1 ) 3 +
|r| m1 m2
| {z } | {z }
Isolated System: P1 = P2 = 0 Kepler problem

r P1 P2
r = G (m2 + m1 ) 3 +
|r| m1 m2
| {z } | {z }

Small mass:
m1 m2 G(m2 + m1 ) G m2 = Gravitational constant

r
P1 P2
r = G (m2 + m1 ) 3 +
|r| m1 m2
| {z } | {z }

Small mass:
m1 m2 G(m2 + m1 ) G m2 = Gravitational constant
Close pair: Moon/Earth, satellite/Earth Third-Body perturbations:
P1 P2
m1 m2 0 Kepler problem

Kepler Problem
r r m
r = G M m
F =
m
=
m
r 3 r3 r F

d r v
= M
dt v rr3
r = r (t, C1 , C2 , C3 , C4 , C5 , C6 )

Kepler Problem
r r m
r = G M m
F =
m
=
m
r 3 r3 r F

d r v
= M
dt v rr3
r = r (t, C1 , C2 , C3 , C4 , C5 , C6 )
Autonomous: C6 tied to initial time: t t0

Kepler Problem
r r m
r = G M m
F =
m
=
m
r 3 r3 r F

d r v
= M
dt v rr3
r = r (t, C1 , C2 , C3 , C4 , C5 , C6 )

Point masses or spherical symmetry

Kepler Problem
r r m
r = G M m
F =
m
=
m
r 3 r3 r F

d r v
= M
dt v rr3
r = r (t, C1 , C2 , C3 , C4 , C5 , C6 )

Potential force: F = V V = r

Kepler Problem
r r m
r = G M m
F =
m
=
m
r 3 r3 r F

d r v
= M
dt v rr3
r = r (t, C1 , C2 , C3 , C4 , C5 , C6 )

Central force: F = f (r) r r r = 0 r v = Const

Kepler Problem
r r m
r = G M m
F =
m
=
m
r 3 r3 r F

d r v
= M
dt v rr3
r = r (t, C1 , C2 , C3 , C4 , C5 , C6 )

Central force: F = f (r) r r r = 0 r v = Const
Solution: Search for integrals (conserved magnitudes)

Integrals of Motion
v2 E
Potential: Specific Energy conservation =
2 r m

Integrals of Motion
v2 E
2 r m
Central: Specific Angular Momentum rv =h

Integrals of Motion
v2 E
2 r m
h
Plane motion
r
v
h Constant magnitude
Color code:
r Fast variable

Integrals of Motion
v2 E
2 r m
h
Plane motion
r
v
r hv
F r12 Laplace/Runge-Lenz vector =e
r

Integrals of Motion
v2 E
2 r m
h
Plane motion
r
v
r hv
F r12 Laplace/Runge-Lenz vector =e
r
d
r r
(h r) = h
r + h r = (r r) 3
= 3 (r r) =
dt r r

r r r d r
= 3 r r r r2 r = 2
=
r r r dt r

Integrals of Motion: Dependencies

r = r t, C1 , C2 , C3 , C4 , C5 , C6 , C6 t t0
7 Constants: E (1), h (3), e (3) Only 5 can be independent


r = r t, C1 , C2 , C3 , C4 , C5 , C6 , C6 t t0
r hv h
h=rv e= r
r v
e


r = r t, C1 , C2 , C3 , C4 , C5 , C6 , C6 t t0
r hv h
h=rv e= r
r v
e
2 m 2
E= 2
e 1
2h


r = r t, C1 , C2 , C3 , C4 , C5 , C6 , C6 t t0
r hv h
h=rv e= r
r v
e
2 m 2
E= 2
e 1
2h
h
r 2 zh }| {
v 2 r (h v) h2 v 2
z }| {
hvr
2
e = ee = + +2 = 1+ +2 =
r r r 2
h2 v 2 2 h2 2 h2 v 2 2h2 E
=1+ 2 =1+ 2 =1+ 2
r |2 {z r} m
E/m
Trajectory
Polar coordinates in the plane of motion ( h)

m Main axis: direction of e
r

M
e

Trajectory

r
rhv hrv
re = r e cos = r = r+ =
M
e
h2 h2 /
= r + r=
1 + e cos

Trajectory

r
rhv hrv
re = r e cos = r = r+ =
M
e
h2 h2 /
: True Anomaly = r + r=
1 + e cos
Polar equation of a Conic Section

Trajectory

r
rhv hrv
re = r e cos = r = r+ =
M
e
h2 h2 /
1 + e cos

e=0 Circle

e<1 Ellipse
e Eccentricity e Eccentricity vector

e=1 Parabola

e>1 Hyperbola

Trajectory

r
rhv hrv
re = r e cos = r = r+ =
M
e
h2 h2 /
1 + e cos

e=0 Circle

e<1 Ellipse
e Eccentricity e Eccentricity vector

e=1 Parabola

e>1 Hyperbola
p = h2 / Parameter or semilatus rectum: radius at 90o

Trajectory
e<1 e=1 e>1
p
p r r p
r
c rp ra
ra
a F F e F F e F e F
b
Ellipse Parabola Hyperbola

Parameter p h2 / h2 / h2 /
Eccentricity e <1 1 >1
p p p
Pericenter rp 1+e 2 1+e
p
Apocenter ra 1e
p p
Major semiaxis a (1e2 ) (e2 1)
Minor semiaxis b p p
1e2 e2 1
Focal distance c ae ae
Energy
E 2 2
Energy E is related to h and e as: = 2 e 1
m 2h

Energy
E 2 2
m 2h
(e2 1) 1
From the trajectory we can identify: 2
=
h a

Energy
E 2 2
m 2h
(e2 1) 1
=
h a
Therefore:
E
= Orbit size depends only on E
m 2a

Energy
E 2 2
m 2h
(e2 1) 1
=
h a
Therefore:
E
= Orbit size depends only on E
m 2a

E < 0 Ellipse
E also shows the type of Conic: E = 0 Parabola

E > 0 Hyperbola

Period of the Elliptic Orbit
Keplers 2nd Law: Areas are swept at a constant rate
1 2 dA 1 2 d 1 r d
dA = 2 r d dt = 2 r dt = 2h
dA

1 2 dA 1 2 d 1 r d
dA = 2 r d dt = 2 r dt = 2h
dA
dA ab
dt = Area
Period = T = 12 h
s s
1 h2 a3
T h = ab = a ap = a a T = 2
2

1 2 dA 1 2 d 1 r d
dA = 2 r d dt = 2 r dt = 2h
dA
dA ab
dt = Area
Period = T = 12 h
s s
1 h2 a3
T h = ab = a ap = a a T = 2
2
Keplers 3rd Law: Period squared is proportional to semiaxis cubed.

1 2 dA 1 2 d 1 r d
dA = 2 r d dt = 2 r dt = 2h
dA
dA ab
dt = Area
Period = T = 12 h
s s
1 h2 a3
T h = ab = a ap = a a T = 2
2
Keplers 3rd Law: Period squared is proportional to semiaxis cubed.

r
2
Mean angular rate: n= =
T a3

Energy and Eccentricity
B
A
r =, v
E , h
a , e l
E v2
= =
m 2a 2 r
Energy and Eccentricity
C
1
V
0.5
B
A
1 0.5 0 0.5 1 1.5 2
0.5
r =, v cv
r =, v =, r,
E , h E =, h
a , e l a =, e
2E
E v2 2h
= = e2 = 1 + 2
m 2a 2 r m
Velocity

Trajectory: r = h2 /
1+e cos
Compute v() through
Area Law: h = r2 u
z
Polar coordinates: r = r ur , v = r ur + r u

Velocity

1+e cos
Compute v() through
Area Law: h = r2 u
z
h q

r = = (1 + e cos ) = p
r h h

Velocity

1+e cos
Compute v() through
Area Law: h = r2 u
z
h q

r = = (1 + e cos ) = p
r h h
h2 /
2
r = dr
= 2
(1+e cos )
d 2 e sin h3 = e sin

(1+e cos ) h

Velocity

1+e cos
Compute v() through
Area Law: h = r2 u
z
h q

r = = (1 + e cos ) = p
r h h
h2 /
2
r = dr
= 2
(1+e cos )
d 2 e sin h3 = e sin

(1+e cos ) h
v
r r
v = [e sin ur + (1 + e cos ) u ] j
h ur

v = [u + e j] = [ sin i + (e + cos ) j] u
h h

Time Law (Elliptic): Kepler Equation
a Constant area rate: Area= 12 h (t )

Q
Circle/Ellipse affinity:
b Q Area F P Q = ab Area F P Q
r

O ae F P


Q
r : Eccentric Anomaly
M = n (t ) : Mean Anomaly
O ae F P : Time at pericenter P


Q
h b
(t ) = Area F P Q = Area OP Q Area OF Q =
2 a
b 1 2 1 h
= a ae a sin = (t ) = e sin
a 2 2 ab


Q
h b
(t ) = Area F P Q = Area OP Q Area OF Q =
2 a
b 1 2 1 h
= a ae a sin = (t ) = e sin
a 2 2 ab
h
ab = h2 =n n (t ) = e sin = M
a ah /

Kepler Equation
n (t ) = e sin = M ( + k 2)
True Anomaly Eccentric Anomaly

Kepler Equation
n (t ) = e sin = M ( + k 2)

s
cos e e+cos
cos = 1e cos cos = 1+e cos (1 + e)
tan = tan
1e sin
sin = 1e
2
sin = 1e sin
2 2 (1 e) 2
cos 1+e cos

Kepler Equation
n (t ) = e sin = M ( + k 2)

s
cos e e+cos
cos = 1e cos cos = 1+e cos (1 + e)
tan = tan
1e sin
sin = 1e
2
sin = 1e sin
2 2 (1 e) 2
cos 1+e cos
Implicit Equation. Simplest method: Iteration

t M ( + k 2 )
1 = M
2 = M + e sin 1
3 = M + e sin 2
... Fast except for e 1

Classical Orbital Elements
z1
h
i i Inclination
Line Sat. . Longitud of ascending node
of no eric
des e
P
Argument of pericenter
i
a Semimajor axis
y1
e Eccentricity
x1
Time of pericenter passage
=+ Longitude of pericenter Ascending node

L=+M Mean longitude Descending node
Line of Nodes Aries Point
from to
i [0, 180o ] [0, 360o ] [0, 360o ]

Reference Systems and Time
z1
h
i
Line Sat. . Equatorial i1 () j1 k1
of no eric
des e
P
Nodal uN () h uN h
i
uN Perifocal e (Per) he h
y1
Orbital ur u h
x1

Julian Date (JD): Days from Jan 01, 4713BC, 12:00 noon
Modified Julian Date (MJD): JD-2,400,000.5
J2000=JD 2,451,545.0 Epoch 1 Jan 2000 12:00 TT
J2000=MJD 51,544.5 Epoch 1 Jan 2000 12:00 TT

Basics of Orbital Mechanics I: Modeling The Space Environment

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Basics of Orbital Mechanics I

Modeling the Space Environment

European Masters in Aeronautics and Space

Basics of Orbital Mechanics I p. 1/20

Basics of Orbital Mechanics I p. 2/20

m1 , m2 point masses; S1 inertial reference

Basics of Orbital Mechanics I p. 3/20

m1 , m2 point masses; S1 inertial reference

Basics of Orbital Mechanics I p. 3/20

m1 , m2 point masses; S1 inertial reference

Basics of Orbital Mechanics I p. 3/20

m1 , m2 point masses; S1 inertial reference

Basics of Orbital Mechanics I p. 3/20

m1 , m2 point masses; S1 inertial reference

Basics of Orbital Mechanics I p. 3/20

Basics of Orbital Mechanics I p. 4/20

Basics of Orbital Mechanics I p. 4/20

Basics of Orbital Mechanics I p. 4/20

Basics of Orbital Mechanics I p. 4/20

Basics of Orbital Mechanics I p. 4/20

Basics of Orbital Mechanics I p. 4/20

Basics of Orbital Mechanics I p. 4/20

Basics of Orbital Mechanics I p. 4/20

Basics of Orbital Mechanics I p. 4/20

S2 Non-rotating Non-inertial, origin in m2

Basics of Orbital Mechanics I p. 5/20

S2 Non-rotating Non-inertial, origin in m2

Basics of Orbital Mechanics I p. 5/20

S2 Non-rotating Non-inertial, origin in m2

m1 COM motion: (m1 + m2 ) rG = P1 + P2

Basics of Orbital Mechanics I p. 5/20

S2 Non-rotating Non-inertial, origin in m2

m1 COM motion: (m1 + m2 ) rG = P1 + P2

Basics of Orbital Mechanics I p. 5/20

S2 Non-rotating Non-inertial, origin in m2

m1 COM motion: (m1 + m2 ) rG = P1 + P2

Basics of Orbital Mechanics I p. 5/20

S2 Non-rotating Non-inertial, origin in m2

m1 COM motion: (m1 + m2 ) rG = P1 + P2

Basics of Orbital Mechanics I p. 5/20

S2 Non-rotating Non-inertial, origin in m2

m1 COM motion: (m1 + m2 ) rG = P1 + P2

S2 Non-rotating Non-inertial, origin in m2

m1 COM motion: (m1 + m2 ) rG = P1 + P2

S2 Non-rotating Non-inertial, origin in m2

m1 COM motion: (m1 + m2 ) rG = P1 + P2

Indirect terms as inertia forces m1 + m2

Basics of Orbital Mechanics I p. 6/20

Basics of Orbital Mechanics I p. 7/20

Isolated System: P1 = P2 = 0 Kepler problem

Basics of Orbital Mechanics I p. 7/20

Isolated System: P1 = P2 = 0 Kepler problem

Basics of Orbital Mechanics I p. 7/20

Isolated System: P1 = P2 = 0 Kepler problem

Basics of Orbital Mechanics I p. 7/20

Basics of Orbital Mechanics I p. 8/20

Autonomous: C6 tied to initial time: t t0

Basics of Orbital Mechanics I p. 8/20

Autonomous: C6 tied to initial time: t t0

Basics of Orbital Mechanics I p. 8/20

Autonomous: C6 tied to initial time: t t0

Basics of Orbital Mechanics I p. 8/20

Autonomous: C6 tied to initial time: t t0

=+ Longitude of pericenter Ascending node