A Simplified Kinetic Element Formulation for the Rotation of a Perturbed Mass-Asymmetric Rigid Body

Euler's equations, describing the rotation of an arbitrarily torqued mass asymmetric rigid body, are scaled using linear transformations that lead to a simplified set of first order ordinary differential equations without the explicit appearance of the principal moments of inertia. These scaled differential equations provide trivial access to an analytical solution and two constants of integration for the case of torque-free motion. Two additional representations for the third constant of integration are chosen to complete two new kinetic element sets that describe an osculating solution using the variation of parameters. The elements' physical representations are amplitudes and either angular displacement or initial time constant in the torque-free solution. These new kinetic elements lead to a considerably simplified variation of parameters solution to Euler's equations. The resulting variational equations are quite compact. To investigate error propagation behaviour of these new variational formulations in computer simulations, they are compared to the unmodified equations without kinematic coupling but under the influence of simulated gravity-gradient torques.     

Exact analytic solutions for the rotation of an axially symmetric rigid body subjected to a constant torque

New exact analytic solutions are introduced for the rotational motion of a rigid body having two equal principal moments of inertia and subjected to an external torque which is constant in magnitude. In particular, the solutions are obtained for the following cases: (1) Torque parallel to the symmetry axis and arbitrary initial angular velocity; (2) Torque perpendicular to the symmetry axis and such that the torque is rotating at a constant rate about the symmetry axis, and arbitrary initial angular velocity; (3) Torque and initial angular velocity perpendicular to the symmetry axis, with the torque being fixed with the body. In addition to the solutions for these three forced cases, an original solution is introduced for the case of torque-free motion, which is simpler than the classical solution as regards its derivation and uses the rotation matrix in order to describe the body orientation. This paper builds upon the recently discovered exact solution for the motion of a rigid body with a spherical ellipsoid of inertia. In particular, by following Hestenes’ theory, the rotational motion of an axially symmetric rigid body is seen at any instant in time as the combination of the motion of a “virtual” spherical body with respect to the inertial frame and the motion of the axially symmetric body with respect to this “virtual” body. The kinematic solutions are presented in terms of the rotation matrix. The newly found exact analytic solutions are valid for any motion time length and rotation amplitude. The present paper adds further elements to the small set of special cases for which an exact solution of the rotational motion of a rigid body exists.     

Quaternions and the rotation of a rigid body

The orientation of an arbitrary rigid body is specified in terms of a quaternion based upon a set of four Euler parameters. A corresponding set of four generalized angular momentum variables is derived (another quaternion) and then used to replace the usual three-component angular velocity vector to specify the rate by which the orientation of the body with respect to an inertial frame changes. The use of these two quaternions, coordinates and conjugate moments, naturally leads to a formulation of rigid-body rotational dynamics in terms of a system of eight coupled first-order differential equations involving the four Euler parameters and the four conjugate momenta. The equations are formally simple, easy to handle and free of singularities. Furthermore, integration is fast, since only arithmetic operations are involved.     

数值历表对动力系统参数的偏导数

本文推导了天体运动方程的数值解对积分初始条件、天体质量等动力系统参数的偏导数所满足的微分方程和初始条件。     

Use of a discrimination rule for predicting a successful spacecraft landing on the surface of a celestial body

An estimate for the probability of a successful spacecraft landing în the complex relief of a celestial body given random initial landing conditions is considered. The estimation is performed according to values of these initial conditions, including landing orientation, the linear and angular velocity of the lander, as well as surface relief and behavior of the ground at the landing site. For a trial sample involving random landing situations, the equations of motion of the lander are solved, from which the discrimination rule is derived. Then a successful landing is predicted by means of the rule without the solution of the equations of motion during landing.     

Analytical expansions of torque-free motions for short and long axis modes

Torque-free motion of a rigid body is integrable and its solution is expressed in terms of elliptic functions and elliptic integrals. The conventional analytical expression of the solution, however, is complicated and not suitable for hand-calculation. Recently the rotational motions of small celestial bodies in the solar system are frequently investigated by numerically integrating the equations of motion instead of using the analytical solution, since the numerical evaluation of the analytical and exact solution is a little bit difficult. As the observational accuracy of the rotational motions of the small bodies in the solar system is quite low, what we need for the reduction of these observations are rough estimates of the period of Eulerian motion ( or the free precession period) and the amplitudes of the main periodic terms. Here we give simple analytical expansions of torque-free motions for short- and long-axis modes, which are correct up to the second-order of a small parameter. These expressions include only trigonometric functions and are easily evaluated by hand calculation for estimates of the essential quantities from which we can determine a global rotational motion of the torque-free motion. They can also be used as the zero-th order solution in a perturbation method, when the motion is perturbed by external torques.     

Elements of spin motion

For use in numerical studies of rotational motion, a set of elements is introduced for the torque-free rotational motion of a rigid body around its barycenter. The elements are defined as the initial values of a modification of the Andoyer canonical variables. A computational procedure is obtained for determining these elements from the combination of the spin angular momentum vector and a triad defining the orientation of the rigid body. A numerical experiment shows that the errors of transformation between the elements and variables are sufficiently small. The errors increase linearly with time for some elements and quadratically for some others.     

Corrections stemming from the non-osculating character of the Andoyer variables used in the description of rotation of the elastic Earth

We explore the evolution of the angular velocity of an elastic Earth model, within the Hamiltonian formalism. The evolution of the rotation state of the Earth is caused by the tidal deformation exerted by the Moon and the Sun. It can be demonstrated that the tidal perturbation to spin depends not only upon the instantaneous orientation of the Earth, but also upon its instantaneous angular velocity. Parameterizing the orientation of the Earth figure axis with the three Euler angles, and introducing the canonical momenta conjugated to these, one can then show that the tidal perturbation depends both upon the angles and the momenta. This circumstance complicates the integration of the rotational motion. Specifically, when the integration is carried out in terms of the canonical Andoyer variables (which are the rotational analogues to the orbital Delaunay variables), one should keep in mind the following subtlety: under the said kind of perturbations, the functional dependence of the angular velocity upon the Andoyer elements differs from the unperturbed dependence (Efroimsky in Proceedings of Journées 2004: Systèmes de référence spatio-temporels. l’Observatoire de Paris, pp 74–81, 2005; Efroimsky and Escapa in Celest. Mech. Dyn. Astron. 98:251–283, 2007). This happens because, under angular velocity dependent perturbations, the requirement for the Andoyer elements to be canonical comes into a contradiction with the requirement for these elements to be osculating, a situation that parallels a similar antinomy in orbital dynamics. Under the said perturbations, the expression for the angular velocity acquires an additional contribution, the so called convective term. Hence, the time variation induced on the angular velocity by the tidal deformation contains two parts. The first one comes from the direct terms, caused by the action of the elastic perturbation on the torque-free expressions of the angular velocity. The second one arises from the convective terms. We compute the variations of the angular velocity through the approach developed in Getino and Ferrándiz (Celest. Mech. Dyn. Astron. 61:117–180, 1995), but considering the contribution of the convective terms. Specifically, we derive analytical formulas that determine the elastic perturbations of the directional angles of the angular velocity with respect to a non-rotating reference system, and also of its Cartesian components relative to the Tisserand reference system of the Earth. The perturbation of the directional angles of the angular velocity turns out to be different from the evolution law found in Kubo (Celest. Mech. Dyn. Astron. 105:261–274, 2009), where it was stated that the evolution of the angular velocity vector mimics that of the figure axis. We investigate comprehensively the source of this discrepancy, concluding that the difference between our results and those obtained in Ibid. stems from an oversimplification made by Kubo when computing the direct terms. Namely, in his computations Kubo disregarded the motion of the tide raising bodies with respect to a non-rotating reference system when compared with the Earth rotational motion. We demonstrate that, from a numerical perspective, the convective part provides the principal contribution to the variation of the directional angles and of length of day. In the case of the x and y components in the Tisserand system, the convective contribution is of the same order of magnitude as the direct one. Finally, we show that the approximation employed in Kubo (Ibid.) leads to significant numerical differences at the level of a hundred micro-arcsecond.     

An approximate integral and solution for eccentric planetary type orbits in the restricted problem of three bodies

The circular restricted problem of three bodies is investigated analytically with respect to the problem of deriving a second integral of motion besides the well known Jacobian Integral. The second integral is searched for as a correction the angular momentum integral valid in the two body case. A partial differential equation equivalent to the problem is derived and solved approximately by an asymptotic Fourier method assuming either sufficiently small values for the dimensionless mass parameter or sufficiently large distances from the barycentre. The solution of the partial equation then leads to a function of the coordinates, velocities and time being nearly constant, which means that its variation with time is about 40–300 times less than that of the pure angular momentum. By averaging over the remaining fluctuating part of the quasi-integral we are able to integrate the first order equations using a renormalization transformation. This leads to an explicit expression for the approximate solution of the circular problem which describes the motion of the third body orbiting both primaries with nonvanishing initial eccentricity (eccentric planetary type orbits). One of the main results is an explicit formula for the frequency of the perihelion motion of the third body which depends on the mass parameter, the initial distance of the third body from the barycentre and the initial eccentricity. Finally we study orbits of the P-Type, being defined as solutions of the restricted problem with circular initial conditions (vanishing initial eccentricity).     

A special perturbation method in orbital dynamics

The special perturbation method considered in this paper combines simplicity of computer implementation, speed and precision, and can propagate the orbit of any material particle. The paper describes the evolution of some orbital elements based in Euler parameters, which are constants in the unperturbed problem, but which evolve in the time scale imposed by the perturbation. The variation of parameters technique is used to develop expressions for the derivatives of seven elements for the general case, which includes any type of perturbation. These basic differential equations are slightly modified by introducing one additional equation for the time, reaching a total order of eight. The method was developed in the Grupo de Dinámica de Tethers (GDT) of the UPM, as a tool for dynamic simulations of tethers. However, it can be used in any other field and with any kind of orbit and perturbation. It is free of singularities related to small inclination and/or eccentricity. The use of Euler parameters makes it robust. The perturbation forces are handled in a very simple way: the method requires their components in the orbital frame or in an inertial frame. A comparison with other schemes is performed in the paper to show the good performance of the method.     

Resonant and non-resonant gravity-gradient perturbations of a tumbling tri-axial satellite

Gravity-gradient perturbations of the attitude motion of a tumbling tri-axial satellite are investigated. The satellite center of mass is considered to be in an elliptical orbit about a spherical planet and to be tumbling at a frequency much greater than orbital rate. In determining the unperturbed (free) motion of the satellite, a canonical form for the solution of the torque-free motion of a rigid body is obtained. By casting the gravity-gradient perturbing torque in terms of a perturbing Hamiltonian, the long-term changes in the rotational motion are derived. In particular, far from resonance, there are no long-period changes in the magnitude of the rotational angular momentum and rotational energy, and the rotational angular momentum vector precesses abound the orbital angular momentum vector.At resonance, a low-order commensurability exists between the polhode frequency and tumbling frequency. Near resonance, there may be small long-period fluctuations in the rotational energy and angular momentum magnitude. Moreover, the precession of the rotational angular momentum vector about the orbital angular momentum vector now contains substantial long-period contributions superimposed on the non-resonant precession rate. By averaging certain long-period elliptic functions, the mean value near resonance for the precession of the rotational angular momentum vector is obtained in terms of initial conditions.     

Poisson equations of rotational motion for a rigid triaxial body with application to a tumbling artificial satellite

Differential equations are derived for studying the effects of either conservative or nonconservative torques on the attitude motion of a tumbling triaxial rigid satellite. These equations, which are analogous to the Lagrange planetary equations for osculating elements, are then used to study the attitude motions of a rapidly spinning, triaxial, rigid satellite about its center of mass, which, in turn, is constrained to move in an elliptic orbit about an attracting point mass. The only torques considered are the gravity-gradient torques associated with an inverse-square field. The effects of oblateness of the central body on the orbit are included, in that, the apsidal line of the orbit is permitted to rotate at a constant rate while the orbital plane is permitted to precess (either posigrade or retrograde) at a constant rate with constant inclination.A method of averaging is used to obtain an intermediate set of averaged differential equations for the nonresonant, secular behavior of the osculating elements which describe the complete rotational motions of the body about its center of mass. The averaged differential equations are then integrated to obtain long-term secular solutions for the osculating elements. These solutions may be used to predict both the orientation of the body with respect to a nonrotating coordinate system and the motion of the rotational angular momentum about the center of mass. The complete development is valid to first order in (n/w ₀)², wheren is the satellite's orbital mean motion andw ₀ its initial rotational angular speed.     

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.     

Exact analytic solution for the rotation of a rigid body having spherical ellipsoid of inertia and subjected to a constant torque

The exact analytic solution is introduced for the rotational motion of a rigid body having three equal principal moments of inertia and subjected to an external torque vector which is constant for an observer fixed with the body, and to arbitrary initial angular velocity. In the paper a parametrization of the rotation by three complex numbers is used. In particular, the rows of the rotation matrix are seen as elements of the unit sphere and projected, by stereographic projection, onto points on the complex plane. In this representation, the kinematic differential equation reduces to an equation of Riccati type, which is solved through appropriate choices of substitutions, thereby yielding an analytic solution in terms of confluent hypergeometric functions. The rotation matrix is recovered from the three complex rotation variables by inverse stereographic map. The results of a numerical experiment confirming the exactness of the analytic solution are reported. The newly found analytic solution is valid for any motion time length and rotation amplitude. The present paper adds a further element to the small set of special cases for which an exact solution of the rotational motion of a rigid body exists.     

Mutual gravitational potential ofN solid bodies

The mutual gravitational potential ofN solid bodies is expanded without approximation in terms of harmonic coefficients of each body. As an application the Euler dynamical equations for the motion of the axis of figure of the rigid Earth are integrated analytically by the method of variation of parameters.     

Analytical solution to the perturbedJ 2 motion of Artificial Satellite in terms of Euler parameters

In this paper an analytical solution for the differential equations governing the motion of Artificial Satellite under the oblateness of the earth will be developed. We start with the differential equations in terms of Euler parameters. To compact algebra, we introduce the Cayley-Klein type complex variables. Comparison between numerical and analytical final states withJ ₂ will be given for a test case.     

Rotation of the elastic Earth: the role of the angular-velocity-dependence of the elasticity-caused perturbation

We calculate the so-called convective term, which shows up in the expression for the angular velocity of the elastic Earth, within the Andoyer formalism. The term emerges due to the fact that the elasticity-caused perturbation depends not only on the instantaneous orientation of the Earth but also on its instantaneous angular velocity. We demonstrate that this term makes a considerable contribution into the overall angular velocity. At the same time the convective term turns out to be automatically included into the correction to the nutation series due to the elasticity, if the series is defined by the perturbation of the figure axis (and not of the rotational axis) in accordance with the current IAU resolution. Hence it is not necessary to take the effect of the convective term into consideration in the perturbation of the elastic Earth as far as the nutation is related to the motion of the figure axis.     

A unified state model of orbital trajectory and attitude dynamics

The trajectory and attitude dynamics of an orbital spacecraft are defined by a unified state model, which enables efficient and rapid machine computation for mission analysis, orbit determination and prediction, satellite geodesy and reentry analysis. The state variables are momenta — a general form for attitude, and a parametric form for orbital motion. The orbital parameters are the velocity state characteristics of the orbital hodograph. The coordinate variables are sets of four Euler parameters, which define the rotation transformation by the quaternion algebra. The unified state model possesses many analytical properties which are invaluable for dynamical system synthesis, numerical analysis and machine solution: regularization, unified matrix algebra, state graphs and transforms. The analytic partials of position and velocity with the state and coordinate variables are presented, as well as representative perturbation functions such as air drag, gravitational potential harmonics, and propulsion thrust.     

Closed solution of the Hill differential equation for short arcs and a local mass anomaly in the central body

The Hill differential equation describes the relative motion of a satellite w.r.t. a circular reference orbit. The deviations in the orbit are caused by a residual acceleration, which is small compared to the effect of the central gravitational field. In this paper, the acceleration of a local mass anomaly in the central body is considered, which rotates w.r.t. the inertial frame with a constant angular velocity. The mass anomaly is modeled by a superposition of radial base functions. The potential and the gradient of each base function are represented in the orbit by the Keplerian elements, the rotation rate of the central body and the parameters of the base function, i.e. the position of its center, the shape and a scaling factor. The inhomogeneous solution of the Hill differential equation for short arcs is found by means of the Laplace transform. A few lower orders of the solution require an additional Laplace transform, to consider the so-called resonance cases. The final deviations are described in a closed and differentiable formula of the Keplerian elements and the parameters of the base function.     

Canonical planetary perturbation equations for velocity-dependent forces,and the Lense-Thirring precession

A form of planetary perturbation theory based on canonical equations of motion, rather than on the use of osculating orbital elements, is developed and applied to several problems of interest. It is proved that, with appropriately selected initial conditions on the orbital elements, the two forms of perturbation theory give rise to identical predictions for the observable coordinates and velocities, while the orbital elements themselves may be strikingly different. Differences between the canonical form of perturbation theory and the classical Lagrange planetary perturbation equations are discussed. The canonical form of perturbation theory in some cases has advantages when the perturbing forces are velocity-dependent, but the two forms of perturbation theory are equivalent if the perturbing forces are dependent only on position and not on velocity. The canonical form of the planetary perturbation equations are derived and applied to the Lense Thirring precession of a test body in a Keplerian orbit around a rotating mass source.