Hcw equations

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Hcw equations

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that is in a circular orbit about a central body, considered a point mass, can be

described by the CW equations of motion

Ä = 3n2 x + 2ny_

x

yÄ = ¡2nx_

zÄ = ¡n2 z

where the x-axis is along the radius vector of the target spacecraft, the z-axis

is along the angular momentum vector of the target spacecraft, and the y-axis

completes the right handed system. With this de…nition, the central body

is towards the negative x direction and the y-axis points along the velocity

vector of the target spacecraft. Motion along y-axis is considered ‘along-track’,

and motion along the positive and negative z-axis is considered ‘out-of-plane’

motion.

These equations have a closed form solution given by

sin nt 2

x(t) = (4 ¡ 3 cos nt)x0 + x_ 0 + (1 ¡ cos nt)y_0

n n

2 4 sin nt ¡ 3nt

y(t) = 6(sin nt ¡ nt)x0 + y0 ¡ (1 ¡ cos nt)x_ 0 + y_ 0

n n

z_0

z(t) = z0 cos nt + sin nt

n

where r

¹

n=

a3t

and at is the semi-major axis of the target vehicle’s orbit.

The velocities are then can be computed by taking the …rst time derivative

of the position components.

If a state vector is de…ned as

0 1

x

B C

µ ¶ B y C

±r B z C

±s = =BB

C

C

±v B x_ C

@ y_ A

z_

The solution of the system is given by

0 1 0 1 2

10 1

x(t) 4 ¡ 3 cos nt 0 0 n sin nt n (1 ¡ cos nt) 0 x0

B y(t) C B 6(sin nt ¡ nt) 1 2 1 CB C

B C B 0 ¡ n (1 ¡ cos nt) n (4 sin nt ¡ 3nt) 0 CB y0 C

B z(t) C B 1 CB C

B C=B 0 0 cos nt 0 0 n sin nt CB z0 C

B x(t)

_ C B 3n sin nt 0 0 cos nt 2 sin nt 0 CB x_ 0 C

B C B CB C

@ y(t)

_ A @ ¡6n(1 ¡ cos nt) 0 0 ¡2 sin nt 4 cos nt ¡ 3 0 A@ y_0 A

z(t)

_ 0 0 ¡n sin nt 0 0 cos nt z_0

1

The propagation matrix premultiplying the initial condition vector is also re-

ferred to as the state transition matrix for the CW equations. This matrix is

labeled as ©(t), and is a time varying. The system can be partitined as

µ ¶ µ ¶µ ¶

±r(t) M(t) N(t) ±r0

=

±v(t) S(t) T(t) ±v0

±v(t) = S(t)±r0 + T(t)±v0

In the text (Wiesel, Space‡ight Dynamics), the variables are related to the ones

shown as

Ã = nt

±r = x

r0 ±µ = y

±z = z

©rr = M

©rv = N

©vr = S

©vv = T

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