/

EFFECTS IN SATELLITE
CENTER DAHLGREN VA
A DERIVATION NAVAL
TRACKING(U) SURFACE WEAPONS
OF RELATIVISTIC
'AD-A154 620
UNCLSSIIED L R GIBSON APR 63 NSWC/TR-83-55 /173 N

UNLSIFE /G1/
 iiiMAO __

"1-". -

11112
IIII .1
SItll

MICROCOPY RESOLUTION TEST CHART

NATIONAL BUREAU OF STANDARDS1963-A

-..... ",,.',', ..- ,

.. ........ .. ..........
,'.-..............,..
'~~~~~~~~.-..-.....-.-.."
'."
*"." " '":''''''" "" '.' '
L" - " " " i "."?'':-''-" " ':" ' , ." : "':"" - " -"" -''":" '' " '"" , , o * '' ' 't ' ' ' '' ' ' 't° '
.. =
' ;,,k . . . .
,,° - :--,,
. . . '-", -"
' ,=. . _.''.,'_ ',, .* "..
r.
_
ADA5 620
 UNCLASSIFIED.'
SECURITY CLASSIFICATION OF THIS PAGE (When Da. Erered)
READ INSTRUCTIONS
RPAGE
REPORT DOCUMENTATION BEFORE COMPLETING FORM
= REPORT NUMBER 2. GOVT ACCESSION NO. 3. RECIPIENT'S CATALOG NUMBER

NSWC TR 83-55 "

C TITLE (end Subtitle) S. TYPE OF REPORT & PERIOD COVEREO

A DERIVATION OF RELATIVISTIC Final

EFFECTS IN SATELLITE TRACKING 6PERFORMING OR. REPORT NUMBER

7. AUTHOR(s) S. CONTRACT OR GRANT NUMBER(*)

L. Ralph Gibson

. PERFORMING ORGANIZATION NAME AND ADDRESS 10. PROGRAM ELEMENT. PROJECT. TASK
" AREA A WORK UNIT NUMBERS

Naval Surface Weapons Center (KI 3)

Dahlgren, VA 22448 35159B
II. CONTROLLING OFFICE NAME AND ADDRESS 12. REPORT DATE

Defense Mapping Agency April 1983

Washington, DC 20305 I3. NUMBER OF PAGES
26
14. MONITORING AGENCY NAME A ADDRESS(II diifeeal Iron Confiroiln Olfe*) IS. SECURITY CLASS. (of tal report)

UNCLASSIFIED
1S. DECLASSIFICATION/DOWNGRADING
SCHEDULE

16. DISTRIBUTION STATEMENT (of this Report)

Approved for public release; distribution unlimited

17. DISTRIBUTION STATEMENT (of the abltract entered In Block 20,. Ii diferent from Report)

IS. SUPPLEMENTARY NOTES

t KEY WOROS (Continue on reverse side If neceeary mid Identlily by block number)
Satellite tracking)
Relativistic effects;,
Doppler effects-) .-
Global Positioning System (GPS))
Gravitation ;.."y
20 ABSTRACT (Con ,nu#on reverse side It neceseary and Identify by block nuember)

Starting with the Schwarzschild solution to Einstein's field equations, the equations for
relativistic corrections to satellite tracking are derived. Included are corrections for range from
satellite to earth station, range from satellite to satellite, and Doppler range difference from
satellite to earth station. In addition, the classical and relativistic Doppler effects are derived in the
appendixes.
S!

DD O , 1473 EDITION oF .OV1 S.S OBSOLETE

S/N 0102-014- 6601
SECURITY CLASSIFICATION OF THIS PAGE (iWhe Dal Entered)

o +. . . ...
 -rd TV PT IN T Iz -
k-Crb 4 T - T-
.- .V. W-V TV,

NSWC TR 83-55

FOREWORD

This report presents a mathematical derivation of the relativistic effects in satellite tracking.
Although the results are not new, the presentation of the derivations in this systematic, self-contained 7
way can help the user easily make modifications to suit his requirements.
This report was reviewed by Mr. Robert W. Hill, Head of the Space Flight Sciences Branch, Space and
Surface Systems Division.
Released by:

OLIVER F. BRAXTON, Head

Strategic Systems Department

Acce'sciof For

DTTr' T.HB

* DTIC U:~luc~

ELECTE
JUN 7 095 .a

B .- Ave11 .~id/or
t.
 NSWC TR 83-55

1$

CONTENTS

Page

INTRODUCTION ........................................................... 1.

PRELIMINARY DISCUSSION ................................................ 2

RELATIVISTIC CORRECTION TO RANGE ..................................... 3

SATELLITE TO EARTH STATION ........................................ 3
4 SATELLITE TO SATELLITE ............................................. 7

RELATIVISTIC CORRECTION TO DOPPLER DETERMINATION

OF RANGE DIFFERENCE .............................................. 9....

REFER EN CES ............................................................ 11

APPENDIXES:
A-AN ALTERNATE FORM FOR THE PERIODIC RELATIVISTIC EFFECT ...... 12
B-THE CLASSICAL DOPPLER EFFECT ................................... 13
C-THE RELATIVISTIC DOPPLER EFFECT ................................ 18

D IST RIBU TIO N ........................................................... (1)

.r%

'.-4,

,-.. V

k'°".
 NSWC TR 83-55
wL

L1i

INTRODUCTION

Since the advent of the NAVSTAR GPS (Global Positioning System) era, it has become more
important to correct for relativistic effects in satellite orbit determination. This is primarily so because r
range to the GPS satellites is now being determined by timing the propagation of a pulse from the
satellites to the receivers. Prior to GPS, Doppler data were used to determine the orbits from range
difference or range rate.

When using Doppler data, the relativistic effects can be absorbed into a frequency bias that is
formally eliminated. No explicit mathematical equation needs to be incorporated into the computer
program. This assumes, of course, that the periodic relativistic effect due to orbital eccentricity is
negligible.

. When using range data, however, the situation becomes more complicated. A pulse emitted from
the satellite carries information telling the proper time of the transmitter (satellite) clock at the time of
emission, TTe. When the pulse is received, the proper time of reception is noted by the receiver (station)
. clock, TR. The relativistically uncorrected range then is

Pu C(TR, - TTe)

where c is the vacuum speed of light. We say this range is relativistically uncorrected because two
clocks at different gravitational potentials do not run at the same rate: for two clocks at rest, the one
in the stronger gravitational field runs slower.

Because the clocks run at different rates, even if they are perfect clocks and are perfectly synchro-
nized initially, they will grow more and more out of synchronization and rre * r e where rRe is the
.- proper time of emission as read on the receiver clock. The relativistically corrected range then is

"c(R P r rR e )

Although the equations for the relativistic corrections are well known and have been published in
several papers,' ' the purpose of this paper is to derive them in a systematic way. The only part that is
not derived is the Schwarzschild solution to Einstein's field equations. All other derivations are in-
* luded in this paper in addition to the Doppler effect.

9-.i
 NSWC TR 83-55

PRELIMINARY DISCUSSION

From the field equations of general relativity, the squared line element in a centrally symmetric
gravitational field is

2GM '2GM\
ds 2 - 24 dr 2 - r2 dO2 - r2 sin 2 0 d, 2 + c - 2r/ (1)
cr / '~C /°

where G is the gravitational constant, M the mass of the central body, and c the velocity of light in
vacuum. This exact solution to the field equations was obtained by Schwarzchild. 3 '4

To first order in I/c 2 , Equation 1 can be written as

s2 +
-j1+c-dr 2
-r 2
d0 2 -r 2
sin 2 0d4 2 +c 2 - dt2
2
cd2 ; - c r]

I Idt \2 r2 IdO\ 2 r2 1 (d )2 2 GMldr \ 2 + I

2 dt- -
C. I -sin
- 2
2 O1
C" (2)
The first three terms in the bracket are - -2 expressed in spherical coordinates and since
C

c. dl- , the fourth term can be neglected and Equation 2 can be written as

" .''ds =cdt

"cI
d-d ~
I1C
2
2GM
r
v2
c
1 (3) ,

The Newtonian potential for a spherically symmetric field due to a sphere or point mass is
0(r) = - - = GM) so in terms of the Newtonian potential, Equation 3 can be written
r
2
24,(r) V
s d cdt + (4)

Proper time dr is the time interval measured by an observer at rest in any system and is defined by

ds
C

An observer at rest in a system that is moving with a velocity, v, in a potential (P(r) then will measure
a proper time interval given by Equation 4

+ 2(b(r) V2]
dr= +c _ ] dt. (5)

I2

• " .- . ~~~ ~~~...

~~~ ~~~~~~~~~~
~~"-.. .. . ... ".... . "- ... .-" - . .... . . - " .- ."". ... °.-', ':. ".:.
 NSWC TR 83-55

The quantity dt is called the "coordinate time interval." For two observers with different velocities
and at different potentials, dr 1 -/Adr 2 whereas dt, = d1 2 ; i.e., dti = dt 2 as objects observed, not as
observers.

If we imagine all points in space containing clocks which by some mechanism are kept in sychroni-
zation, the clocks will always be in agreement and show the coordinate time. This coordinate time will
be the same as the proper time for an observer at rest at infinity since from Equation 5 as v- 0
and (D(r)- 0. dr- + dt.

The distinction between proper time and coordinate time is very important. To paraphrase
Eddington, 4 proper time is the time of consciousness and coordinate time is the time in physical and
astronomical reckoning.

RELATIVISTIC CORRECTION TO RANGE

SATELLITE TO EARTH STATION

We can write Equation 5 for a transmitter (any satellite, subscript T) and for a receiver (earth
fixed station or any other satellite, subscript R) and we have
"'[" [ 2q ( T ) VT
°

CITT I+ c---I + dt (6)

drR + R ci2 dt. (7)

Note that there is no subscript on the coordinate time interval, dt, as discussed in the previous section.
The reason for no subscripts is that we are assuming that the transmission time has already been taken
into account. We are only comparing clock rates.

When [(quation 6 is divided by Equation 7

T,(rr
= [ ) ...] + . (rr) - u2 ",

'whit:hgives to order 1,2

1dr I2 i I"
r 2 (4(
f R I
.id T/
R- I 2 -TV T C2.. r , ()
(8)

. . ... . . . . • .. . . • - . ,. , . . . . ... . .
 NSWC TR 83-55
Potential energy is

3 V = mD(rT)

* and the nonrelativistic kinetic energy (valid to our order of approximation) is

2 T'

Also, from classical mechanics the satellite's total energy is

Jim
E= K + V-

where p = GM,in is the satellite mass, and a is the semimajor axis. From above then

2aT
K=E-V=- V

and the first bracket in Equation 8 becomes

, ]1
2 r KF1 2 1]

(r )- V K= VLqm
+ = 2 i.
2 T inc 2 mc 2
2aT - r7 .

so

-l+ +• .
dTT C[ R ]2 c2
R rT
r T (9)

If the receiver is a ground fixed station, then the underlined term is constant for a given station
and can be handled separately. Nevertheless, we will carry the term along.

For an elliptical orbit

rT = a(I - e cos ET(TR) (10)

where L'T(TR ) is the eccentric anomaly, e7. is the eccentricity of the satellite orbit, and aT is the semi-
major axis. L7r is written as a function of rR since the ground station clock is used as a standard.

4
 NSWC TR 83-55
1 .
-and
When we solve Equation 10 for rr substitute into Equation 9

+
d-r vR u 3 e cos ET(TR)
- +-+-- - (11)
dr C2 2a C2 1 - er cosET(rf) ,"E

but since

3+ecosE 4 e cosE
S3+
1- ecosE 1- ecosE

Equation 11 can be rewritten as

dTT
-T1+ ---I-- M
3i
t
2]
VRT
21.ieT F Cos~*(R 1 (12)
dTR c2 rR 2aT 2j ac 2l -eT cos ET0

The problem now is to find how far out of synchronization the clocks become after a long time
interval (of the order of seconds, minutes, or even hours). To do this, we integrate Equation 12
2
~ 3 ev (os ET(RdTR
T r R + " r- a
2aT -+
ac 2
e cos ET(R) K (13)

where K is a constant of integration.

Kepler's equation is

)
n(Tr - TR = ET(rR) - eTsin ET(7r)

where

=
n .11/ar3 1 "

so 3/2 n / IT /

drR 1/2 (1 - erCOS ET(rR))dE r . (14)

a1

.-.
.-.-'.:
:-.-. .. ..'. . ::
*:;. .-" ": : ;
 NSWC TR 83-55 "t

If we substitute Equation 14 into Equation 13 and carry out the integration, we get
I-L O 2,.saT~eT
1 A~ 3p~ R ___T__T
rrT =rR
T +
T C+ r-i 2aT
~-sin
32 + 'R c2 r(
ET RR)K+ K .(5 (15)

If desired, we can evaluate K in terms of the time when the clocks were synchronized.
If r = R T=r0 , then from Equation 15
T( R

2p a e7 2

K c sin E ro I-I (16)

For the time of emission of a pulse, Equation 15 gives

2 2p% a e.
T +--3- 3p +-IR in
Te Re + 2a2 + ' sin E(r,) +K (17)

where TTe is the time of emission by the satellite clock and TRe is the time of emission by the station
clock. If we let TR, be the reception time by the station clock, the uncorrected range is obtained by
using the satellite clock reading rTe for the emission time

P, c(TR T..

r e

and the corrected range is

P c(rR r R)

where both times are read on the station clock.

From Equation 17, the corrected range then is

1 [;12p"i a7.' eT.

Pr + sin E + cK (18)

where cK is a range bias due to relativistic effects.

6
 NSWC TR 83-55

If the user has an orbit determination program that uses range difference data, he can write
Equation 18 in the form*
1~~3a~ ~~ 1/-R21/Arr~a2TeTs ,-
AP= A u+ cU+[V - 2ar r ca+e in (E T..)
+ AE) - sin E] (19)

where E is the eccentric anomaly at the time of emission of the first pulse according to the station
clock. -

Also, if the user has already integrated an orbit such that he has satellite position r and velocity u
at various times. hc can avoid the calculation of ET in Equation 18 and write the periodic relativistic
correction as

Tp
aTT 2
sin E - r v. (20)

This relation was called to the author's attention by John T. Carr of the Space and Surface Systems
Division, Strategic Systems Department, NSWC, Dahlgren, Va. The derivation of Equation 20 is given
in Appendix A.

Note that the underscored term in all equations throughout is constant and can be handled in
various ways. For example, since the underscored quantity in Equation 17 causes the GPS clock to
run fast compared with a station clock, prior to launch the satellite clock is purposely set low to
10.22999999545 Mhz or 4.45 x 10" 0 low in frequency relative to a nominal 10.23 Mhz.5 This in
effect removes the underscored term and leaves only the periodic relativistic term.

SATELLITE TO SATELLITE

For the case of satellite-to-satellite position determination, e.g., a host vehicle using GPS satellites
to navigate via GPSPAC, we write Equation 15 for each satellite using subscript G for GPS and I.
for the host vehicle. We still use R for the ground station whose clock serves as a standard.
4',

From Equation 15 then

2]; ( eMY
; (21i
G+IRE'
(; R CI L.
R a( + T~ e C. sin E ( (R )+K (21)

T + -
RrLR_~_ 2R
itllrTR r + (2 aa1
Il 3 p
+ 21
R2)i
Tr
Rr
[{
c
(2H
a , 1 ,
E
sin EL(rR ) + K,,
1
-v
(22)

where the subscripts c and r mean emission and reception, respectively, with K(; and A H corresponding
to K of Equation 15.
*In going from Equation 18 to L-quation 19, we have used ri 0 T Rr - A- , - - nd r
terms of order I/c 2 C C

. . . .. . . .. ,.
 NSWC TR 83-55

When we use

1I # 3p +-"
-1 C+ 2
"Va
3i +r ++ G
+2 la
and
1 1 ri 3#ll

I2 "al 2[.

Equations 21 and 22 can be inverted to 0 2 to give

C /

rRe G 2 - l a Ge + sin EG(rR e) -K (21')

2
'=Tr - c - a + rVtr + ca sin EH(•R ) - KH . (22')

The uncorrected range is

and the corrected range is

p =c( rR -R )
r e

where TR is the time the pulse iN .:mitted by the GPS satellite and TRr is the time of reception by the
host vehicle, each measured on the earth station clock.

If Equation 21' is subtracted from Equation 22' and multiplied by c

1 PI 311 R I _,
3# vR-
c rp 11 C 2a
R" i; 1"(;e - L 2a H.
1
2

it 1/1 C sinn E i ( al-;ilrl (Kl K). (23)

I 'A 1 -- G..
8 ;,
 NSWC TR 83-55

1 .

In Equation 23, the station clock has been eliminated by using rR r r •+ 0 () and TR = 7Ge

+ 0 (-) from Equations 21 and 22.

Equation 23 was developed keeping both of the underscored terms in Equations 21 and 22. If
-, the GPS clock frequency was set low before launch as discussed at the end of the previous section,
* then in effect the first underscored term in Equation 23 is removed and we have

- + ir [= sin EHn(rnH )-aY e; sin E cre) c(KH-KG; )

I P Pu 2a H 2 c1 • T '
(24) :

leaving one cumulative time effect. Also KG' * KG due to vanishing of the underscored term in
-" Equation 16.

RELATIVISTIC CORRECTION TO DOPPLER DETERMINATION OF RANGE DIFFERENCE

In Appendix C, Equation C-6 gives the general relativistic Doppler effect to be

1+ T]l +J

,- -(25) fT
:, +~ + / , ,
-c2J.. c

and Equation ('-5 gives

.
V -1- T (26)

where subscript T refers to transmitter (any satellite), subscript R refers to receiver (earth fixed
S dp
station), and t - JT

9
 NSWC TR 83-55

The ratio of radicals is the same as in the Relativistic Correction to Range section, so by the same
procedure used to obtain Equation 12, Equations 25 and 26 above become

3/2\
pe+coR ET (TR) I---
+ L. fT (27)
fR L + rR 2aT2 2
aTC - eT
cos T(rR cdTR

If we multiply the terms in Equation 27 together and neglect terms of higher order than 1/c2 , this
becomes

3,u uR2
32"f° 2IlieT1 cos ErT(r R ) ._I dp
= + T + (28)
Tc \rR 2a 2/ aT C2 \Ie T COSET(TR) cdr

The underscored term in Equation 28 can be seen to be a constant frequency bias that could be
solved in the computer orbit determination program. In fact, this procedure has been followed over the
years in Doppler tracking of satellites; i.e., this relativistic frequency bias has been absorbed into any
other frequency biases caused by other effects. By handling the constant relativistic effect in this
manner, the only remaining relativistic effect is the periodic term caused by the nonzero eccentricity.

In the following, we will carry the constant term along but continue to underscore it for identifica-
tion.

In tracking the satellite, we have a station oscillator of frequency, fs, with the frequency chosen
so that fs > fRmax" Then, if we mix fs with the incoming signal fR, the beat frequency is
P.:

dN
3'R-= fS -R

so when Equation 28 is subtracted from fs

S- (29)
a cos ErR)
dR C r 2a 2 C2 -e c dTR

where Af = s - IT.

10

. .. . .-. . .. . .
• ..... ~~~~~~. . . . .,.... . . . .. . . . .. . .. . . .. ... .. . ... .. ::
",
" ' "-. '-v - ".. "...'.... . " '. '. ' "" " " . " . ", ', "-• " " .' "" ". "" '. . ". . . " - " ".. ." . ." ." -.. ". . •. . . .
 NSWC TR 83-55

If we integrate both sides of Equation 29 from rR to r R + ArR and let N be the number of
Doppler counts taken over the time interval ArR, we get
¢R+

N.N = fr r1
2
C
(
r
_.. +
2aT 2
rR +
A
2 fTr1eT
aT 1- e
rR
cos ET'rR
cos E
(f)
dr
A
+
cT
Ap. (30)
(
As in Equation 13, the integral above is

i.2f41A a Te

2
[sin (E + AE) -sin ETl.
C T T.
c
so if Equation 30 is multiplied by - and solved for Ap
fT

T [N A ( aiN- ) R-r c Pn (ET +AE T) sin E . (31)

,-.T C2 T 2 :

In Equation 31, the first term is the usual nonrelativistic Doppler result corresponding to Ap U
(unconected range difference), the second term is the constant portion of the relativistic effect, and the
third term is the periodic relativistic effect. Thus, Equation 31 above for Doppler data corresponds
to Equation 19, which was obtained by differencing two range measurements.

REFERENCES

I. M.D. Harkins, Relativistic Effects in Satellite Dynamics and Doppler Tracking, NWL TR-2965,
Naval Surface Weapons Center, Dahlgren Laboratory, Dahlgren, Va., 1973.

2. M.D. Harkins, Radio Science, Vol. 14, p. 671, 1979.

3. C. Moller, The Theory of Relativity, Oxford University Press, London, 1962.

4. A. S. Eddington, The Mathematical Theory of Relativity, Cambridge University Press, American

Branch, New York, N.Y., 1960.

5. J.J. Spilker, "GPS Signal Structure and Performance Characteristics," GPS Papers published in
".- ~ NA VIGA TION, reprinted by The Institute of Navigation, Washington, D.C., 1980.

gS

' II I"
-L- 11i-
 NSWC TR 83-55

APPENDIX A

AN ALTERNATE FORM FOR THE PERIODIC RELATIVISTIC EFFECT

From Equation 18, the periodic relativistic effect (PRE) is

PRE-=2h~ sin E. (A-1)

C

The elliptic orbit equation is

r =a (1 - e cos E) (A-2)

and Kepler's equation is

1h (t- to) E-e sin E. (A-3)

Differentiating Equations A-2 and A-3 with respect to time

i =ae sin E E (A-4)

3/ (1 ecos.E)E. (A-5)
a
When Equation A-5 is solved forkE, substituted into Equation A-4, and Equation A-2 is used to eliminate
the quantity (I - e cos E), one obtains
rj pha~e sinE. (A-6)

Since r 2 =r- r,thenr =r. i=r* v,so

S PRE=2Pa sin E 2(A-7) '.4

12
 NSWC TR 83-55

APPENDIX B

THE CLASSICAL DOPPLER EFFECT

y y

R T :Txxt

xo

t t2t2 AT REST,
FIGURE B-i. RECEIVER +,X 02' tl,
TRANSITER MOVING AWAY (B-2)
When T is at position x 0 , we imagine an event occurring at its origin (e.g., a light flash) at time t' by
T"s clock. Since the light travels at velocity c, when R sees the event its clock reads
tl = t1 (B-i) -

a later time because of the transmission time t2x 0t1'/c (Figure B-i). ,,-t1

At a later time, t21, another event takes place; R sees this event when its clock reads

FIUEB0 EEVRA ET
C CRNMTE OIGAA
WhenT isat-psitin o ..we imagine n evet
-,TscokThe additional
ic h distance
ih rvl of atravel - tl'),ocurin
eoiyc is u16 (t ' hnRse not UTh (t2at~*
- its
vn
rigi(e the former
tj ) itsince
coc reas-
-. is fash
ligt a tim
the true t by .
distance -

that T has traveled in the actual time interval between the events, while t2 -tt is the apparent time
interval according to R.

- - When Equation B-i is subtracted from Equation B-2

13
 NSWC TR 83-55
or let AtR =2t2 -tz tt- t' and we have

, tR = At r (1 + .- ). (B-3)

This is the difference in time intervals because of the motion changing the transmission times. The
P clocks are assumed to be identical and running at the same rates; i.e., no relativistic effects.

Equation B-3 is (classically) true for any pair of events; they do not have to be periodic. If the events
are periodic (such as the vibrations of an electron producing a light wave), then f= 1A tR-.t -
*so using Equation B-3 R fT t

fR = V (B-4)

y y VR "

tl, t2 t, It l

T R iRX

xV UR(t2t1)o-'

FIGURE B-2. TRANSMITTER AT REST, RECEIVER MOVING AWAY

In the same manner as before (Figure B-2)

tj ' = t1 +O (B-5)

and

t2' = t 2 + + Y_ (t2' - tt'). (B-6)

Note that one might be tempted to write for the additional transmission distance in Equation B-6
vg (t2 - t j )since t2 - t l is the true time interval between the events. R, however, which is in motion,
has been traveling for a time t2' - t j' during the interval in which it has observed both events. The addi-
tional distance is then VR (t 2 '- t').

If Equation B-5 is subtracted from Equation B-6

t2- t' t2 - tl + -V 42 tt),"

and putA tR= t2'-t,,A t t-

t , then

14
 NSWC TR 83-55

SAt =AtR

or

AttR 1 -VR
Tr (B-7)

" Again, assuming perfect clocks, this is the difference in time intervals because of the transmission
_* time.
If the events are periodic, = ff ,t-t so from Equation B-7
RtT

f f,(1 _VR)(-8

To summarize to this point

+R for at rest, T moving away, (B-4)

-.- : -- ---
C

VT

= R
fR 1 + vr fo+ oin wy
rest,. Tat (B-0)
VR
'S....

Am FIGURE B-3. TRANSMITT'ER AND RECEIVER MOVING IN ARBITRARY DIRECTIONS

- To be more general, both Equation B-4 and Equation B-8 assumed R and T were separating, so in
*those equations --VR -~ ' 7 -~ b -6 where b is a unit vector directed from R toward T (Figure B-3).
So Equation B-4 and Equation B-8 can be written

fR fT -Ratrest (B-9)
1+ P* UT
C
 NSWC TR 83-55

*" To put both R and T in motion, we imagine a "virtual" observer V at rest in inertial space on the line
joining R and T. Then, since the observer is at rest, the frequency it receives from T according to Equa-
tion B-9 is

-T (B-11)

and the frequency received by R transmitted by V is by Equation B-10

R !R (B-12)

Since V is an empty point in space, the signal simply passes through so

U Tv = fv .(B-13)

When we substitute Equation B-11 into Equation B-12 using Equation B-13, we have

f = fT (B-14)
1 +,. _
c

which is the classical Doppler equation when both R and T are in motion.

In Doppler tracking of satellites, we write the Doppler equation as

where j is the time rate of change of the range between the station and satellite. At first glance, it might
appear that in Equation B-14 we are neglecting the receiver (station) velocity and writing ' • - so
that to first order Equation B-14 is
fR 1+ fT 1( f".
c

This is not the case!

To derive Equation B-15, we write the range vector as

-I rT(te)-rR (tr) (B-16)

where te = time emitted and tr time received. The time emitted is obtained from

. te tr- • (B-17)

From Equation B-16

".. d (te) d- (tr) .''-

dtr dtr

16

.. .,
.. ,.. -. . . . * -, • . -.. . ... • . . -.
... -, .:. . - ....... -.... ,-,.. .--. ., .- .. -.. . .* ... *.,..
..
, '-,
 NSWC TR 83-5 5

p dte dtr dtrA

From Equation B-17 1 ~ so (B-18) is

dtr

P T (1F)-R (B-19)

Define a unit vector jdirected from the station toward the satellite. Then if we take the dot product of
Swith ~,we obtain from Equation B-19

P =15
P PVTP VT 6R (B-20)

From Equation B-1-0

PV pV

so
yR

___ C (B-21)
c + _T

* When Equation B-21 is substituted into Equation B-14, the Doppler equation is put in the form of
Equation B-15. It is clear then that Equation B-15 is an exact expression of the classical Doppler
* equation. There is no dropping of P2 /c' and higher-order terms, and the station is not considered at rest.

17
 1~ -~ 1 -m- - -. -,- - ---

NSWC TR 83-55

APPENDIX C

THE RELATIVISTIC DOPPLER EFFECT

The proper time in any system is given by Equation 5. We can then write for transmitter and
receiver

2 b (rT) V
drT= dtT 1+ c 2 c (C-1) i.

24
D(rR) v(
drR = dtR 1 + c(C-2)L

Note that here, unlike Equations 6 and 7, we have put subscripts on the coordinate times. The reason
is that in the earlier section of the report our goal was to compare clock rates assuming that the trans-
mission time was taken into account.

The Doppler effect, however, arises because of the transmission time, as was shown in Appendix B.
Toward our goal of deriving the relativistic Doppler effect then, tT in Equation C-I is the coordinate time
when the satellite emitted the signal, and tR in Equation C-2 is the coordinate time when it is received by
the station.

The proper frequency is fR = fT - 1 so if we divide Equation C-1 by Equation C-2

drR' drT s

2 2
(r,) V,

fR ~ 2 ~ dT (C-3)
1+ 2 dtR
2,+2(r ) C2-."
2

In order to obtain an expression for T-,we write from Equation C-2

dtR

2
2
S '"(rR R
d~rR edte + 2 c

2
(b(rR) vR
dTRrdtR + C2 c2 -

18
 NSWC TR 83-55

so

dtT drR e
dtR drR r

Since the corrected range is

P =C (7TRa- 7Re)

then
p
TRe = TRr
r
so

dtT dTR p (C-4)

dIR drR, C

From Appendix B, Equation B-21, we see that Equation C-4 can be written as

dt 1+ P
T _ c
1+ (C-5)

so Equation C-3 becomes

f(1+/~*6 2 (b(rT)r
C6
R)~ ~ TR
fR + c2 c2
1+ 2 2

2 v2
effret of giaon 4tand
(r1 (.- th oin Equation C-6 reduces to the
lssical rltiisi
Dopplerefct
2 2

C2c2

19
 NSWC TR 83-55

DISTRIBUTION

Copies Copies

Library of Congress U.S. Geological Survey

Attn: Gift and Exchange Division Attn: Paul Needham
Washington, DC 20540 (4) Reston, VA 22091 (2)

National Aeronautics and Space Admin. National Oceanic & Atmospheric Admin.
Scientific & Technical Library National Ocean Survey
('ode NHS 22. Rm. BA39 Attn: Dr. John Bossier (1)
600 Independence Ave., SW Dr. William Strange (1)
Washington, DC 20546 (2) Mr. Larry Hothem (1)
Rockville, MD 20850 (2)
Defense Mapping Agency
U.S. Naval Observatory Goddard Space Flight Center
Washington, DC 20305 (3) Attn: Dr. David Smith (1)
Mr. James Marsh (1)
Defense Mapping Agency Dr. Joseph Siry (1)
Hydrographic/Topographic Center Greenbelt, MD 20771 (2)
Attn: Robert Ziegler
Washington, DC 20315 (10) Jet Propulsion Laboratory
Attn: Dr. William Melbourne (1)
Defense Mapping Agency Aerospace Center Pasadena, CA 91103 (2)
Attn: Dr. Robert Ballew
St. Louis, MO 63118 (8) The Ohio State University
Dept. of Geodetic Sciences
Naval Electronics Systems Command 1958 Neil Ave.
Navy Space Project, PME 106 Attn: Dr. Richard Rapp (1)
Washington. DC 20360 (3) Dr. Ivan Mueller (1)
Dr. Urho Uotila (1)
Naval Research Laboratory Columbus, OH 43210
Attn: Mr. Al Bartholomew
Washington, DC 20375 (4) The University of Texas at Austin
Attn: Dr. Byron Tapley (1)
Naval Oceanographic Office Austin, TX 78712 (2)
Bay St. Louis, MS 39522 (2)
Applied Research Laboratory
Office of Naval Research University of Texas
Physical Sciences Division Attn: Dr. Arnold Tucker (1)
800 N. Quincy St. Dr. George Born (l)
Arlington, VA 22217 (2) Dr. Bob Schutz (1)
Austin, TX 78712 (4)
Air Force Geophysics Laboratory
Hanscom Field
Bedford, MA 01731 (2)
(1) - Z

-...

o " % - " ° . °
". %" " . "- . . . " . . " - . • " ""-- " ." ° " ." .
. " . " " " , - ." " " - " *
 Copies Copies

Institute for Laboratory Astrophysics Department of Physics

University of Colorado Ohio University
Attn: Dr. Peter Bender Attn: Dr. James Dilley - ,
Boulder, CO 80309 (1) Athens, OH 45701 (3)

U.S. Naval Observatory Charles Stark Draper Lab., Inc.

Attn: W.L. Klepczynski (1) Attn: Paul J. Cefola
D.D. McCarthy (1) Cambridge, MA 0'6 (1)
Washington, DC 20360
Department of Physics
Massachusetts Institute of Technology Eastern Illinois University
Attn: Peter Morgan Attn: Dr. William Butler (1)
Cambridge, MA 02139 (1) Dr. P. Scott Smith (1)
Charleston, IL 61920 (4)
Defense Mapping School
Ft. Belvoir, VA 22060 (3) Department of Physics & Astronomy
University of Maryland
U.S. Navy Astronautics Group Attn: Dr. Carroll Alley
Point Mugu, CA 93041 (2) College Park, MD 20742 (2)
Naval Space Surveillance System National Geodetic Survey
Dahlgren, VA 22448 (2) Gravity, Astronomy & Satellite Branch -
Attn: William E. Carter, Clyde Goad
Headquarters Space Division (AFSC) Rockville, MD 20052 (1)
Los Angeles Air Force Station
Box 92960 Worldway Postal Center Local: .
Los Angeles, CA 90009 E31 (GIDEP) K13 (70)
E411 K14 (5)
Physical Sciences Laboratory E431 (10)
New Mexico State University F 14 (4)
Box 3 - PSL K05 (1)
Attn: Dan Martin K12 (10)
Las Cruces, NM 88003 (3)

Applied Physics Laboratory

Johns Hopkins University
Johns Hopkins Road
Attn: Harold Black (1)
Vincent Pisacane (1)
Laurel, MD 20810 (1)

- -
(2) ..... . .

. . .. . . . . . .. .....- . ..... . . -
FILMED
7-85

DTIC