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2
t t d
h3
p
01 e cos 2
2 d The integral depends on the value of the
t
0 1 e cos
2 eccentricity e.
h3
b) The period
4
ELLIPTICAL ORBITS
For an elliptical orbit, 0 < e < 1, so the general equation of time since
periapsis becomes
2 1 1 e e 1 e 2 sin
2 tan tan
1
t
1 e
3 3
h 2 2 1 e 2 1 e cos
6
ELLIPTICAL ORBITS
EXAMPLE 2.2
a) eccentricity, e
b) Angular momentum, h
c) Perigee velocity, vp
d) Apogee velocity, va
e) Semimajor axis, a
f) Period of the orbit, T
g) True anomaly when r = 8387 km
h) Satellite speed when r = 8387 km
i) Flight path angle,
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ELLIPTICAL ORBITS
EXAMPLE 2.3
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PARABOLIC TRAJECTORIES
1 1
tan 3M p 3M 2
1 3M p
3
3M 2
1
3
2
p p
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HYPERBOLIC TRAJECTORIES
rp = periapsis radius
a = semimajor axis
b = semiminor axis
e = eccentricity
= angle of asymptote
= true anomaly of
asymptote
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HYPERBOLIC TRAJECTORIES
The time since periapsis can be determined in a manner analogous to that for
elliptical orbits with the aid of the hyperbolic eccentric anomaly F :
= ( sinh )/
cosh F = (e + cos )/(1 + e cos )
Where:
t = time since periapsis passage, s
F = hyperbolic eccentric anomaly (rad)
e = eccentricity
a = semimajor axis
= true anomaly
M = mean motion
1
sinh = exp exp()
2
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HYPERBOLIC TRAJECTORIES
Exercise 2.1
Voyager 2 flew past the north pole of Neptune. Given a = 19 985 km, e = 2.45859.
During departure, Voyager passed Triton, one of the moons of Neptune, at a radius of
354 600 km. What was the time since periapsis for the encounter with Triton?
Algorithm:
1. Calculate mean motion
2. Calculate cosine of true anomaly
3. Find F
4. Find t from F
12
ORBIT DETERMINATION
The earths equatorial plane and the ecliptic intersect along a line, which is
known as the vernal equinox line.
Precession of the vernal equinox line - Due to the earths tilted spin axis the vernal equinox
recesses westward around the normal to the ecliptic at the rate of about 1.4 degrees per
century.
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VERNAL EQUINOX LINE
16
GEOID APPROXIMATIONS
Approximation 1: Approximation 2:
Earth is sphere + oblate rotational
Earth is sphere ellipsoid
17
GEOID APPROXIMATIONS
Approximation 3:
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PRECESSION OF EARTH ORBIT
19
GEOCENTRIC-INERTIAL COORDINATE SYSTEM
Origin : Sun
Basic plane: Ecliptic
Principle direction : Vernal
Equinox
21
HELIOCENTRIC-INERTIAL COORDINATE SYSTEM
Origin : Sun
Basic plane: Ecliptic
Principle direction : Vernal
Equinox
22
GEOCENTRIC-EQUATORIAL COORDINATE SYSTEM
Origin : Earth
Basic plane : Satellite orbit
Principle direction: Periapsis
24
SUMMARY
25
ORBITAL ELEMENTS
Semimajor axis, a
One-half of the major axis and represents a satellite's mean distance from its
primary 27
ORBITAL ELEMENTS
The distance between the foci divided by the length of the major axis and
is a number between zero and one. An eccentricity of zero indicates a
circle.
28
ORBITAL ELEMENTS
The angular distance between the ascending node and the point of perigee
29
ORBITAL ELEMENTS
Inclination, i
The angular distance between a satellite's orbital plane and the equator of its
primary (or the ecliptic plane in the case of heliocentric, or sun centered, orbits).
31
ORBITAL ELEMENTS
32
ORBITAL ELEMENTS
33
DETERMINING THE ORBITAL ELEMENTS FROM r AND v
h rv 1 2
e
v r rvr
v
I J K r
h rv X Y Z
vX vY vZ
h
i cos 1 z 1 e r
h cos er vr 0
0 < i < 90 prograde orbit 360 cos 1 e r vr 0
er
90 < i < 180 retrograde orbit
i = 90 polar orbit
2) Vector r in perifocal
coordinate system
r r cos P r sin Q
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COORDINATE TRANSFORMATIONS
38
COORDINATE TRANSFORMATIONS
j Q i Q j Q k
21 22 23
.....(3)
k Q31i Q32j Q33k
Unprimed system
i Q i Q j Q k
11 12 13
j Q i Q j Q k
21 22 23
i Q32
k Q31 j Q33
k .....(4)
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COORDINATE TRANSFORMATIONS
40
COORDINATE TRANSFORMATIONS
QT Q 1 , where, 1 0 0
Identity matrix or
1 0 1 0
unit matrix 0 0 1
41
COORDINATE TRANSFORMATIONS
v i v j v k Q v i Q v j Q v k i Q
x y z 11 x 12 y 13 z 21 x
v i Q22v y j Q23vz k j
Q v i Q v j Q v k k
31 x 32 y 33 z
42
COORDINATE TRANSFORMATIONS
44
COORDINATE TRANSFORMATIONS
i cos 0 sin i
j
j 0 1 0
k sin 0 cos k
45
COORDINATE TRANSFORMATIONS
i cos sin 0 i
j
j sin cos 0
k 0 k
0 1
46
COORDINATE TRANSFORMATIONS
6 symmetric Euler
sequences:
Yaw-pitch-roll sequence
6 asymmetric Euler
sequences:
47
COORDINATE TRANSFORMATIONS
49
COORDINATE TRANSFORMATIONS
d 2r
2
3r
dt r
With presence of perturbations:
d 2r
2
3
r ap
dt r
52
TYPES
Non-
Gravitational
gravitational Atmospheric drag Non-spherical earth
perturbations
perturbations
LEO- decreases semi- Precession of nodes ()
major axis Motion of lines of apsides
()
Mean anomaly at epoch
53
ATMOSPHERIC DRAG
54
ATMOSPHERIC DRAG
55
ATMOSPHERIC DRAG
Photochemical
reaction
1 CD : drag
2 CD A
ad g 0V iv coefficient,
2 W depending on
the shape and
aD = atmosphere drag acceleration vector surface.
= atmosphere density
V = velocity of satellite
g0 = Earth gravitation at sea level
W = Satellite weight
iv = unit vector of satellite velocity
56
SOLAR PRESSURE
Solar radiation
pressure force
58
NON-SPHERICAL EARTH
Earth rotation
59
ATMOSPHERIC DRAG
REGRESSION OF NODES
Equatorial bulge causes component of gravity vector acting on SC to be
slightly out of orbit plane
This out of orbit plane component causes a slight precession of the orbit
plane.
Sun-synchronous orbit - Relies on nodal regression to shift the ascending
node ~1 per day.
Scans the same path under the same lighting conditions each day.
Sun-synchronous orbit 60
ATMOSPHERIC DRAG
Rotation of apsides
The phenomenon is caused by a higher acceleration near the equator
and a resulting overshoot at periapsis.
This only occurs in elliptical orbits.
Spacecraft
61
ATMOSPHERIC DRAG
Where:
n is the mean motion in degrees/day
J2 = 0.00108263
Re is Earths equatorial radius
a is semi major axis (km)
i is the inclination
e is the eccentricity
Sun
Gravitational influence of a
third body (eg:Sun, moon) in Luni-solar
addition to spacecraft and an perturbation
Earth.
Moon
63
THIRD BODY INFLUENCE
Acceleration
initial frame
64
THIRD BODY INFLUENCE
65
THIRD BODY INFLUENCE
66
COMPARISON OF PERTURBATIONS
67
COMPARISON OF PERTURBATIONS
SUB-TOPIC:
Spacecraft Horizon
Field of View
Constellations
GROUND TRACK
The locus of nadir positions traced on the surface of the central body by a
spacecraft as a function of time
71
GROUND TRACK
72
SPACECRAFT HORIZON
2-way
m/wave
can be
S/c can be established
seen from Forms a circle on
central
body the spherical
surface of the
central body
The s/c can
observe
the central
body
73
SPACECRAFT HORIZON
74
SPACECRAFT SWATH WIDTH
75
FIELD OF VIEW
FOV
76
SATELLITE CONSTELLATION
77
SATELLITE CONSTELLATION
78
SATELLITE CONSTELLATION
Navigation Constellation
Galileo and GPS (and Glonass) need to have high satellite diversity.
You really need to see at least four satellites for a quick and accurate
positioning fix (including height).
79
SATELLITE CONSTELLATION
80
SATELLITE CONSTELLATION
81
SATELLITE CONSTELLATION
82
SATELLITE CONSTELLATION
Teledesic
1994: 840 satellites announced the
largest network system ever
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SATELLITE CONSTELLATION