The equations of relative motion in the orbital reference frame

The analysis of relative motion of two spacecraft in Earth-bound orbits is usually carried out on the basis of simplifying assumptions. In particular, the reference spacecraft is assumed to follow a circular orbit, in which case the equations of relative motion are governed by the well-known Hill–Clohessy–Wiltshire equations. Circular motion is not, however, a solution when the Earth’s flattening is accounted for, except for equatorial orbits, where in any case the acceleration term is not Newtonian. Several attempts have been made to account for the \(J_2\) effects, either by ingeniously taking advantage of their differential effects, or by cleverly introducing ad-hoc terms in the equations of motion on the basis of geometrical analysis of the \(J_2\) perturbing effects. Analysis of relative motion about an unperturbed elliptical orbit is the next step in complexity. Relative motion about a \(J_2\)-perturbed elliptic reference trajectory is clearly a challenging problem, which has received little attention. All these problems are based on either the Hill–Clohessy–Wiltshire equations for circular reference motion, or the de Vries/Tschauner–Hempel equations for elliptical reference motion, which are both approximate versions of the exact equations of relative motion. The main difference between the exact and approximate forms of these equations consists in the expression for the angular velocity and the angular acceleration of the rotating reference frame with respect to an inertial reference frame. The rotating reference frame is invariably taken as the local orbital frame, i.e., the RTN frame generated by the radial, the transverse, and the normal directions along the primary spacecraft orbit. Some authors have tried to account for the non-constant nature of the angular velocity vector, but have limited their correction to a mean motion value consistent with the \(J_2\) perturbation terms. However, the angular velocity vector is also affected in direction, which causes precession of the node and the argument of perigee, i.e., of the entire orbital plane. Here we provide a derivation of the exact equations of relative motion by expressing the angular velocity of the RTN frame in terms of the state vector of the reference spacecraft. As such, these equations are completely general, in the sense that the orbit of the reference spacecraft need only be known through its ephemeris, and therefore subject to any force field whatever. It is also shown that these equations reduce to either the Hill–Clohessy–Wiltshire, or the Tschauner–Hempel equations, depending on the level of approximation. The explicit form of the equations of relative motion with respect to a \(J_2\)-perturbed reference orbit is also introduced.     

A numerical-analytical method for studying the orbital evolution of distant planetary satellites

We describe an approximate numerical-analytical method for calculating the perturbations of the elements of distant satellite orbits. The model for the motion of a distant satellite includes the solar attraction and the eccentricity and ecliptic inclination of the orbit of the central planet. In addition, we take into account the variations in planetary orbital elements with time due to secular perturbations. Our work is based on Zeipel’s method for constructing the canonical transformations that relate osculating satellite orbital elements to the mean ones. The corresponding transformation of the Hamiltonian is used to construct an evolution system of equations for mean elements. The numerical solution of this system free from rapidly oscillating functions and the inverse transformation from the mean to osculating elements allows the evolution of distant satellite orbits to be studied on long time scales on the order of several hundred or thousand satellite orbital periods.     

A Review on Co-orbital Motion in Restricted and Planetary Three-body Problems

The 1:1 mean motion resonance may be referred to as the lowest order mean motion resonance in restricted or planetary three-body problems. The five well-known libration points of the circular restricted three-body problem are five equilibriums of the 1:1 resonance. Coorbital motion may take different shapes of trajectory. In case of small orbital eccentricities and inclinations, tadpole-shape and horseshoe-shape orbits are well-known. Other 1:1 libration modes different from the elementary ones can exist at moderate or large eccentricities and inclinations. Coorbital objects are not rare in our solar system, for example the Trojans asteroids and the coorbital satellite systems of Saturn. Recently, dozens of coorbital bodies have been identified among the near-Earth asteroids. These coorbital asteroids are believed to transit recurrently between different 1:1 libration modes mainly due to orbital precessions, planetary perturbations, and other possible effects. The Hamiltonian system and the Hill’s three-body problem are two effective approaches to study coorbital motions. To apply the perturbation theory to the Hamiltonian system, standard procedures involve the development of the disturbing function, averaging and normalization, theory of ideal resonance model, secular perturbation theory, etc. Global dynamics of coorbital motion can be revealed by the Hamiltonian approach with a suitable expansion. The Hill’s problem is particularly suitable for the studies on the relative motion of two coorbital bodies during their close encounter. The Hill’s equation derived from the circular restricted three-body problem is well known. However, the general Hill’s problem whose equation of motion takes exactly the same form applies to the non-restricted case where the mass of each body is non-negligible, namely the planetary case. The Hill’s problem can be transformed into a “canonical shape” so that the averaging principle can be applied to construct a secular perturbation theory. Besides the two analytical theories, numerical methods may be consulted, for example the approach of periodic orbit, the surface of section, and the computation of invariant manifolds carried by equilibriums or periodic orbits.     

Orbital evolution of Saturn’s new outer satellites and their classification

Based on data for twelve recently discovered outer satellites of Saturn, we investigate their orbital evolution on long time scales. For our analysis, we use the previously obtained general solution of Hill’s double-averaged problem, which was refined for libration orbits, and numerical integration of the averaged system of equations in elements with allowance for Saturn’s orbital evolution. The following basic quantitative parameters of evolving orbits are determined: extreme eccentricities and inclinations, as well as circulation periods of the pericenter arguments and of the longitudes of the ascending nodes. For four new satellite orbits, we have revealed the libration pattern of variations in pericenter arguments and determined the ranges and periods of their variations. Based on characteristic features of the orbits of Saturn’s new satellites, we propose their natural classification.     

Coriolis forces in numerical integration of satellite orbits,and absolute reference system

The reference system defined by Veis and currently used for computing satellite orbits is not sufficiently accurate for some scientific applications, considering the new accuracy of laser data. We have therefore defined another orbital reference system with associated apparent forces. The reference system chosen is the mean celestial system 1970.0. The motion of a satellite is numerically integrated in the instantaneous celestial system (sideral system), taking into account all the complementary forces due to precession and nutation. The complete set of formulas is given here and has been introduced in a differential orbital improvement program.     

Variations of the thermal accommodation coefficient from the analysis of the atmospheric lift effects on the satellite 1974-70 A

The changes of the orbital inclination of the satellite 1974-70 A show some peculiarities which cannot be explained by the usual disturbing effects (odd zonal harmonics, lunisolar perturbations, rotation of the atmosphere). The effect of a lift force normal to the orbital plane explains the residual inclination variations if a changing value of the thermal accommodation coefficient is introduced. The theory agrees well with the observations if the coefficient rises from a low value (～0.1) corresponding to a quasi-specular reflection of the molecules incident to the satellite surface to higher values (>0.9) characterizing a diffuse reflection.     

Hill's stability in the elliptic restricted three-body model including body shape

It is shown that the inclusion of the J₂-term of the planet and its orbital eccentricity may alter the stability character of a satellite in the sense of Hill. The effect depends on the initial conditions. With the actual initial conditions, the satellite S9 is Hill stable whether or not these terms are considered, but if S9 were located at a distance of 330 Saturn radii, then it would be unstable or stable according as these terms are considered or not.     

The first-order,non-singular Keplerian differential state transition matrix

The Keplerian differential state transition matrix (KDSTM) is a fundamental tool in investigations of the sensitivity of orbital evolution to changes in initial conditions, in perturbation analysis, as well as in targeting and rendezvous operations. Several different forms of the KDSTM are available in the literature. They differ in the choice of state space variables, as well as in derivation methods. Here, a new method for constructing the KDSTM is presented, which is based on the well-known theorem on the differentiability of the solution of a system of ordinary differential equations with respect to initial conditions. A peculiarity of the method is that it allows the direct construction of analytical expressions for both the direct and the inverse fundamental matrices needed to form the KDSTM. The KDSTM is first built in the inertial reference frame and then transformed to the orbital, or Hill reference frame. The resulting expressions contain the full set of Keplerian elements and are hence readily extensible to perturbed Keplerian reference motion. The results are compared with some of the best known KDSTM’s available in the literature, with which they are proven to be fully equivalent, despite their sometimes dramatically different appearance.     

A Study on the Relationship between the Orbital Lifetime and Inclination of Low Lunar Satellites

A detailed theoretical analysis on the orbital lifetime and orbital inclination of a Low Moon-Orbiting satellite (LMOs) and the 'stable areas' of long orbital lifetime are given. Numerical simulations under the real force model were carried out, which not only validate the theoretical analysis and also give some valuable results for the orbit design of the LMOs.     

Orbital evolution of new distant Neptunian satellites and ω-librators in the satellite systems of Saturn and Jupiter

We used data on the recently discovered three outer Neptunian satellites to analyze the long-period evolution of their orbits. We estimated the ranges of eccentricities and inclinations as well as approximate circulation periods of the pericenter arguments and the longitudes of the ascending nodes. The results were mainly obtained by using two different versions of the averaged Hill problem. Plane sections of the phase space of satellite orbital elements are given. We discuss the peculiarity of the evolution of several satellite orbits related to the librational variation of the pericenter argument ω. The ω-librators of Saturn’s system were found to qualitatively differ from the libration orbit in the system of Jupiter.     

Orbital perturbations due to radiation pressure for a spacecraft of complex shape

We analyze the perturbations due to solar radiation pressure on the orbit of a high artificial satellite. The latter is modelled in a simplified way (axisymmetric body plus despun antenna emitting a radio beam), which seems suitable to describe the main effects for existing telecommunication satellites. We use the regularized general perturbation equations, by expressing the force in the moving Gauss' reference frame and by expanding the results in terms of some small parameters, referring both to the orbit (small eccentricity and inclination) and to the spacecraft's attitude. Some interesting results are derived, which assess the relative importance of different physical effects and of different parts of the spacecraft in determining the long-term evolution of the orbital elements.     

Perturbations of a spheroidal satellite due to direct solar radiation pressure

The orbital accelerations of certain balloon satellites exhibit marked oscillations caused by solar radiation impinging on the surface of the satellites, which, once spherical, have assumed a spheroidal shape producing a component of force at right-angles to the Sun-satellite direction. Given the characteristics and orientation of the satellite, the equations of force are determined by the formulae of Lucas. Otherwise the phase-angle and magnitude of the right-angle force are determined by trial and error, or best-fit techniques. Using a variation of the approach developed by Aksnes, a semi-analytical algorithm is presented for evaluating the perturbations of the Keplerian elements by direct solar radiation pressure on a spheroidal satellite. The perturbations are obtained by summing over the sunlit part of each orbit and allow for a linear variation in the phase-angle. The algorithm is used to determine the orbital accelerations of 1963-30D due to direct solar radiation pressure, and these results are compared to the observed values over two separate periods of the satellite's lifetime.     

Constructive-analytical solution of the problem of the secular evolution of polar satellite orbits

The well-known twice-averaged Hill problem is considered by taking into account the oblateness of the central body. This problem has several integrable cases that have been studied qualitatively by many scientists, beginning with M.L. Lidov and Y. Kozai. However, no rigorous analytical solution can be obtained in these cases due to the complexity of the integrals. This paper is devoted to studying the case where the equatorial plane of the central body coincides with the plane of its orbital motion relative to the perturbing body, while the satellite itself moves in a polar orbit. A more detailed qualitative study is performed, and an approximate constructive-analytical solution of the evolution system in the form of explicit time dependences of the eccentricity and pericenter argument of the satellite orbit is proposed. The methodical accuracy for the polar orbits of lunar satellites has been estimated by comparison with the numerical solution of the system.     

Sitnikov restricted four-body problem with radiation pressure

An analytical study of the elliptic Sitnikov restricted four-body problem when all the primaries as source of same radiation pressure is presented. We find a solution, which is valid for small bounded oscillations in case of moderate eccentricity of the primary. We have linearized the equation of motion to obtain the Hill’s type equation. Using the Courant and Snyder transformation, Hill’s equation transformed into harmonic oscillator type equation. We have used the Lindstedt-Poincare perturbation method and again we have applied the Courant and Snyder transformation to obtain the final result.     

Asymmetric periodic solutions of the averaged Hill problem with allowance for a planet’s oblateness

We consider asymmetric periodic solutions of the double-averaged Hill problem by taking into account oblateness of the central planet. They are generated by steady-state solutions, which are stable in the linear approximation and correspond to satellite orbits orthogonal to the line of intersection of the planet’s equatorial plane with the orbital plane of a disturbing point. For two model systems [(Sun+Moon)-Earth-satellite] and [Sun-Uranus-satellite], these periodic solutions are numerically continued from a small vicinity of the equilibrium position. The results are illustrated by projecting the solutions onto the (pericenter argument-eccentricity) and (longitude-inclination) planes.     

Analysis of Stability of Orbits of Artificial Lunar Satellites and Configuring of a Lunar Satellite Navigation System

The analysis of the Moon artificial satellite orbits stability and satellite system configuring are important issues of lunar orbital navigational system development. The article analyses the influence of different combinations of perturbations on Moon artificial satellite’s obits evolution. The method of Moon artificial satellite’s orbital evolution analysis is offered; general stability regions of Moon artificial satellite’s orbits are defined and the quality characteristics of the selected orbital groups of the satellite system are evaluated.     

Nonsingular expansions of the gravity potential and its derivatives at satellite altitudes in the ellipsoidal coordinate system

The series in ellipsoidal harmonics for derivatives of the Earth’s gravity potential are used only on the reference ellipsoid enveloping the Earth due to their very complex mathematical structure. In the current study, the series in ellipsoidal harmonics are constructed for first- and second-order derivatives of the potential at satellite altitudes; their structure is similar to the series on the reference ellipsoid. The point P is chosen at a random satellite altitude; then, the ellipsoid of revolution is described, which passes through this point and is confocal to the reference ellipsoid. An object-centered coordinate system with the origin at the point P is considered. Using a sequence of transformations, the nonsingular series in ellipsoidal harmonics is constructed for first and second derivatives of the potential in the object-centered coordinate system. These series can be applied to develop a model of the Earth’s potential, based on combined use of surface gravitational force measurements, data on the satellite orbital position, its acceleration, or measurements of the gravitational force gradients of the first and second order. The technique is applicable to any other planet of the Solar System.     

Minimum control for spacecraft formations in a J2 perturbed environment

Large ΔV amounts are often required to maintain the relative geometry which is needed to implement a formation flying concept. A wise use of the orbital environment makes the orbit keeping phase easier, reducing the overall propellant consumption. A first important step in this direction is the selection of formation configurations and orbits which, while still satisfying the mission requirements, are less subject to perturbations resulting naturally in closed relative motion. Within this frame, a number of studies have been recently carried out in order to identify possible sets of invariant relative orbits under the effects of the Earth oblateness, a conservative force commonly referred to as J2 which is also the most important perturbation for Low Earth Orbit. These efforts clearly marked the difficulties connected with achieving genuine periodic relative motion under J2 effect, but they also showed the existence of a set of conditions on the orbital parameters which allow for quasi-periodic J2 trajectories. This paper presents these particular trajectories, by means of deeper theoretical explanations, showing the dependency of the shape of the relative configurations on the orbital inclination. Since the quasi-periodic trajectories cannot be written analytically, and moreover, they are very sensitive with respect to the initial conditions, difficulties arise when trying to exploit these paths as reference for the control of a formation. This paper proposes a novel approach to find, from the actual quasi periodic natural trajectories, minimal control periodic reference trajectories. Next, it evaluates quantitatively the amount of propellant which is needed to control a spacecraft formation along these paths. The choice of Hill’s classical circular projected configuration as a nominal trajectory is considered as a comparison, showing the clear advantages of the proposed guidance design, which assumes low-perturbed periodic reference orbits as nominal trajectories.     

A method for averaging the perturbing function in Hill’s problem

A modified method for averaging the perturbing function in Hill’s problem is suggested. The averaging is performed in the revolution period of the satellite over the mean anomaly of its motion with a full allowance for a variation in the position of the perturbing body. At its fixed position, the semimajor axis of the satellite orbit during the revolution of the satellite is constant in view of the evolution equations, while the remaining orbital elements undergo secular and long-period perturbations. Therefore, when the motion of the perturbing body is taken into account, the semimajor axis of the satellite orbit undergoes the strongest perturbations. The suggested approach generalizes the averaging method in which only the linear (in time) term is included in the perturbing function. This method requires no expansion in powers of time. The described method is illustrated by calculating the perturbations of the semimajor axes for two distant satellites of Saturn, S/2000 S 1 and S/2000 S5. An approximate analytic solution is compared with the results of numerical integration of the averaged system of equations of motion for these satellites.