A second-order solution to the two-point boundary value problem for rendezvous in eccentric orbits

A new second-order solution to the two-point boundary value problem for relative motion about orbital rendezvous in one orbit period is proposed. First, nonlinear differential equations to describe the relative motion between a chaser and a target are presented considering the second-order terms in the gravity. Then, by regarding the second-order terms as external accelerations, we establish second-order state transition equations. Moreover, the J2 perturbations effects can also be considered in the state transition equations. Last, the initial relative velocity to fulfill a rendezvous is determined by solving the state transition equations. Numerical simulations show that the new second-order state transition equations are accurate. The second-order solution to the two-point boundary value problem on eccentric orbits is valid even if the relative range is farther than 500 km.     

Near distance approximation in astrodynamical applications of Lambert’s theorem

The smallness parameter of the approximation method is defined in terms of the non-dimensional initial distance between target and chaser satellite. In the case of a circular target orbit, compact analytical expressions are obtained for the interception travel time up to third order. For eccentric target orbits, an explicit result is worked out to first order, and the tools are prepared for numerical evaluation of higher order contributions. The possible transfer orbits are examined within Lambert’s theorem. For an eventual rendezvous it is assumed that the directions of the angular momenta of the two orbits enclose an acute angle. This assumption, together with the property that the travel time should vanish with vanishing initial distance, leads to a condition on the admissible initial positions of the chaser satellite. The condition is worked out explicitly in the general case of an eccentric target orbit and a non-coplanar transfer orbit. The condition is local. However, since during a rendezvous maneuver, the chaser eventually passes through the local space, the condition propagates to non-local initial distances. As to quantitative accuracy, the third order approximation reproduces the elements of Mars, in the historical problem treated by Gauss, to seven decimals accuracy, and in the case of the International Space Station, the method predicts an encounter error of about 12 m for an initial distance of 70 km.     

Selection and trajectory design to mission secondary targets

Recently, with new trajectory design techniques and use of low-thrust propulsion systems, missions have become more efficient and cheaper with respect to propellant. As a way to increase the mission’s value and scientific return, secondary targets close to the main trajectory are often added with a small change in the transfer trajectory. As a result of their large number, importance and facility to perform a flyby, asteroids are commonly used as such targets. This work uses the Primer Vector theory to define the direction and magnitude of the thrust for a minimum fuel consumption problem. The design of a low-thrust trajectory with a midcourse asteroid flyby is not only challenging for the low-thrust problem solution, but also with respect to the selection of a target and its flyby point. Currently more than 700,000 minor bodies have been identified, which generates a very large number of possible flyby points. This work uses a combination of reachability, reference orbit, and linear theory to select appropriate candidates, drastically reducing the simulation time, to be later included in the main trajectory and optimized. Two test cases are presented using the aforementioned selection process and optimization to add and design a secondary flyby to a mission with the primary objective of 3200 Phaethon flyby and 25143 Itokawa rendezvous.     

Application of Chebyshev collocation method for relocating of spacecrafts in Hill’s frame

In this study, the Chebyshev collocation method is used for solving the spacecraft relative motion of equations in Hill’s frame. Three different models of governing equations of relative motion (M1, M2, and M3) are considered and the maneuver cost required moving the spacecraft from one state to another is computed in the form of delta velocity at the first terminal point as a function of time of flight (TOF) and inter-satellite distance (ISD). A quantitative as well as qualitative difference is observed in the maneuver cost with the inclusion of radial and/or out of plane separation in along track separation of chaser. Also, a relative comparison of path profiles is made by considering M1, M2 and M3 models. Path profiles for M3 model are found close to M2 model for short intervals for a fixed ISD, whereas path profiles for M2 and M3 do not match even for small values of ISD for a fixed but long TOF. Path profiles for M1 models match to M2 model for very low values of target orbit eccentricities.     

Cooperative evolutionary algorithm for space trajectory optimization

A hybrid evolutionary algorithm which synergistically exploits differential evolution, genetic algorithms and particle swarm optimization, has been developed and applied to spacecraft trajectory optimization. The cooperative procedure runs the three basic algorithms in parallel, while letting the best individuals migrate to the other populations at prescribed intervals. Rendezvous problems and round-trip Earth–Mars missions have been considered. The results show that the hybrid algorithm has better performance compared to the basic algorithms that are employed. In particular, for the rendezvous problem, a 100% efficiency can be obtained both by differential evolution and the genetic algorithm only when particular strategies and parameter settings are adopted. On the other hand, the hybrid algorithm always attains the global optimum, even though nonoptimal strategies and parameter settings are adopted. Also the number of function evaluations, which must be performed to attain the optimum, is reduced when the hybrid algorithm is used. In the case of Earth–Mars missions, the hybrid algorithm is successfully employed to determine mission opportunities in a large search space.     

Bounded relative motions for formation flying in displaced orbits by low-thrust propulsion

This paper discusses a numerical searching approach for the relative motion of formation flying in displaced orbits by spacecraft with low-thrust propulsion. The nonlinear dynamical model of spacecraft is established in a two-body rotating reference frame with arbitrary polar component of momentum and thrust-induced acceleration. Motions near the stable equilibria are distinguished from each other by means of five-dimensional variables, which can then be compressed uniquely into two-dimensional mapping images characterized by the crossing interval and the angle drifts. The surjective but not injective mapping makes the generation of three configurations of the relative motions possible. The corresponding relative orbits for three kinds of two-spacecraft formation flying are searched and exemplified based on the formation conditions formulized as functions of the crossing interval and the angle drifts. Furthermore, based on the assignment of displaced relative orbits to five-dimensional vector, the working orbit of the deputy for a specific chief can also be searched via the optimization algorithm to generate the bounded relative motion with the minimum thrust acceleration magnitude, which is of certain significance in reducing fuel consumption of formations.     

Semi-analytic solution of a two-body problem with drag

An approximate semi-analytic solution of a two-body problem with drag is presented. The solution describesnon-lifting orbital motion in a central, inverse-square gravitational field. Drag deceleration is a non-linear function of velocity relative to a rotating atmosphere due to dynamic pressure and velocity-dependent drag coefficient. Neglected are aerodynamic lift, gravitational perturbations of the inverse-square field, and kinematic accelerations due to coordinate frame rotation at earth angular rate. With these simplifications, it is shown that (i) orbital motion occurs in an earth-fixed invariable plane defined by the radius and relative velocity vectors, and (ii) the simplified equations of motion are autonomous and independent of central angle measured in the invariable plane. Consequently, reduction of the differential equations from sixth to second-order is possible. Solutions for the radial and circumferential components of relative velocity are reduced to quadratures with respect to radial distance. Since the independent variable is radial distance, the solutions are singular at zero radial velocity (e. g., for circular orbits). General atmospheric density and drag coefficient models may be used to evaluate the velocity quadratures. The central angle and time variables are recovered from two additional quadratures involving the velocity quadratures. Theoretical results are compared with numerical simulation results.Presently affiliated with AVCO Systems Division, Wilmington, MA 01887, U.S.A.     

基于CEI的飞船交会对接远程导引段的轨道确定方案

探讨了CEI技术在飞船交会对接远程导引段的高精度定轨与实时监控的能力。仿真结果表明:精密定轨中采用可视弧段较长的单站可使相对位置精度达百米以内,速度达厘米/秒级。采用单一绝对扩展卡尔曼滤波器的方案进行实时轨道计算,采用滤波稳定后固定模糊度的方法可以使相对轨道位置精度达十米级,速度精度达厘米/秒级,事后及实时的轨道精度均满足远程导引段的精度指标。     

Analytical solutions for the equations of motion of a space vehicle during the atmospheric re-entry phase on a 2-D trajectory

A practical and important problem encountered during the atmospheric re-entry phase is to determine analytical solutions for the space vehicle dynamical equations of motion. The author proposes new solutions for the equations of trajectory and flight-path angle of the space vehicle during the re-entry phase in Earth’s atmosphere. Explicit analytical solutions for the aerodynamic equations of motion can be effectively applied to investigate and control the rocket flight characteristics. Setting the initial conditions for the speed, re-entering flight-path angle, altitude, atmosphere density, lift and drag coefficients, the nonlinear differential equations of motion are linearized by a proper choice of the re-entry range angles. After integration, the solutions are expressed with the Exponential Integral, and Generalized Exponential Integral functions. Theoretical frameworks for proposed solutions as well as, several numerical examples, are presented.     

Optimal switching strategy for radially accelerated trajectories

This paper studies the problem of a spacecraft subject to an outward radial thrust, with constant modulus, that may be switched on or off at suitable time intervals. The problem is to find the optimal strategy to guarantee the possibility of transferring the spacecraft from an initial to a final position in a given time interval using the least amount of thrust level. The problem is solved in an optimal framework, using an indirect approach. A number of different mission scenarios are studied in detail: escape missions, flyby missions and rendezvous missions. In the latter case the spacecraft uses a hybrid system comprising an high thrust propulsion system for the final impulsive maneuver. The optimal switching strategy allows one to substantially decrease the thrust level when compared to the continuous case (without thrust modulation).     

Density models for the upper atmosphere

Modeling the effects of atmospheric drag is one of the more important problems associated with the determination of the orbit of a near-earth satellite. Errors in the drag model can lead to significant errors in the determination and prediction of the satellite motion. The uncertainty in the drag acceleration can be attributed to three separate effects: (a) errors in the atmospheric density model, (b) errors in the ballistic coefficient, and (c) errors in the satellite relative velocity. In a number of contemporary satellite missions, the requirements for performing the orbit determination and predictions in near real-time has placed an emphasis on density model computation time as well as the model accuracy. In this investigation, a comparison is made of three contemporary atmospheric density models which are candidates for meeting the current orbit computation requirements. The models considered are the analytic Jacchia-Roberts model, the modified Harris-Priester model, and the USSR Cosmos satellite derived density model. The computational characteristics of each of the models are compared and a modification to the modified Harris-Priester model is proposed which improves its ability to represent the diurnal variation in the atmospheric density.This investigation was supported by the NASA Goddard Spaceflight Center under contract NAS5-20946 and Contract NSG 5154.     

Invariant shape solutions of the spinning three craft Coulomb tether problem

In this paper we study shape-preserving formations of three spacecraft, where the formation keeping forces arise from the electric charges deposed on each craft. Inspired by Lagrange’s 3-body problem, the general conditions that guarantee preservation of the geometric shape of the electrically charged formation are derived. While the classical collinear configuration is a solution to the problem, the equilateral triangle configuration is found to only occur with unbounded relative motion. The three collinear spacecraft problem is analyzed and the possible solutions are categorized based on the spacecraft mass–charge ratio. Precise statements on the number of solutions associated with each category are provided. Finally, a methodology is proposed to study boundedness of the collinear solution that is inspired by past understanding and results for the 3-body problem. Given the initial position and the velocity vectors of each craft along with the charges, analytical solutions are provided describing the resulting relative motion.     

Artificial halo orbits for low-thrust propulsion spacecraft

We consider periodic halo orbits about artificial equilibrium points (AEP) near to the Lagrange points L ₁ and L ₂ in the circular restricted three body problem, where the third body is a low-thrust propulsion spacecraft in the Sun–Earth system. Although such halo orbits about artificial equilibrium points can be generated using a solar sail, there are points inside L ₁ and beyond L ₂ where a solar sail cannot be placed, so low-thrust, such as solar electric propulsion, is the only option to generate artificial halo orbits around points inaccessible to a solar sail. Analytical and numerical halo orbits for such low-thrust propulsion systems are obtained by using the Lindstedt Poincaré and differential corrector method respectively. Both the period and minimum amplitude of halo orbits about artificial equilibrium points inside L ₁ decreases with an increase in low-thrust acceleration. The halo orbits about artificial equilibrium points beyond L ₂ in contrast show an increase in period with an increase in low-thrust acceleration. However, the minimum amplitude first increases and then decreases after the thrust acceleration exceeds 0.415 mm/s². Using a continuation method, we also find stable artificial halo orbits which can be sustained for long integration times and require a reasonably small low-thrust acceleration 0.0593 mm/s².     

Linearization methods for optimizing the low thrust spacecraft trajectory: Theoretical aspects

The theoretical aspects of the modified linearization method, which makes it possible to solve a wide class of nonlinear problems on optimizing low-thrust spacecraft trajectories (V. V. Efanov et al., 2009; V. V. Khartov et al., 2010) are examined. The main modifications of the linearization method are connected with its refinement for optimizing the main dynamic systems and design parameters of the spacecraft.     

Formation flying solar-sail gravity tractors in displaced orbit for towing near-Earth asteroids

Several methods of asteroid deflection have been proposed in literature and the gravitational tractor is a new method using gravitational coupling for near-Earth object orbit modification. One weak point of gravitational tractor is that the deflection capability is limited by the mass and propellant of the spacecraft. To enhance the deflection capability, formation flying solar sail gravitational tractor is proposed and its deflection capability is compared with that of a single solar sail gravitational tractor. The results show that the orbital deflection can be greatly increased by increasing the number of the sails. The formation flying solar sail gravitational tractor requires several sails to evolve on a small displaced orbit above the asteroid. Therefore, a proper control should be applied to guarantee that the gravitational tractor is stable and free of collisions. Two control strategies are investigated in this paper: a loose formation flying realized by a simple controller with only thrust modulation and a tight formation realized by the sliding-mode controller and equilibrium shaping method. The merits of the loose and tight formations are the simplicity and robustness of their controllers, respectively.     

Symmetries in the Optimal Control of Solar Sail Spacecraft

The theory of optimal control is applied to obtain minimum-time trajectories for solar sail spacecraft for interplanetary missions. We consider the gravitational and solar radiation forces due to the Sun. The spacecraft is modelled as a flat sail of mass m and surface area A and is treated dynamically as a point mass. Coplanar circular orbits are assumed for the planets. We obtain optimal trajectories for several interrelated problem families and develop symmetry properties that can be used to simplify the solution-finding process. For the minimum-time planet rendezvous problem we identify different solution branches resulting in multiple solutions to the associated boundary value problem. We solve the optimal control problem via an indirect method using an efficient cascaded computational scheme. The global optimizer uses a technique called Adaptive Simulated Annealing. Newton and Quasi-Newton Methods perform the terminal fine tuning of the optimization parameters.     

Variational and symplectic integrators for satellite relative orbit propagation including drag

Orbit propagation algorithms for satellite relative motion relying on Runge–Kutta integrators are non-symplectic—a situation that leads to incorrect global behavior and degraded accuracy. Thus, attempts have been made to apply symplectic methods to integrate satellite relative motion. However, so far all these symplectic propagation schemes have not taken into account the effect of atmospheric drag. In this paper, drag-generalized symplectic and variational algorithms for satellite relative orbit propagation are developed in different reference frames, and numerical simulations with and without the effect of atmospheric drag are presented. It is also shown that high-order versions of the newly-developed variational and symplectic propagators are more accurate and are significantly faster than Runge–Kutta-based integrators, even in the presence of atmospheric drag.     

Theory of an experiment in an orbiting space laboratory to determine the gravitational constant

The paper analyzes an experiment in an orbiting laboratory to determine the gravitational constantG. A massive sphere, according to a suggestion of L. S. Wilk, is to have three tunnels drilled through it along mutually perpendicular diameters. The sphere either floats in the orbiting laboratory, with its center held fixed by means of external jets issuing from the spacecraft, or is tethered to the spacecraft. In either case it is free to rotate; in the second case this freedom would be achieved by a system of gimbals.Each tunnel contains a small test object, which is held on the tunnel's axis by means of a suspension system, perhaps electrostatic, and held at rest relative to the sphere by slowly rotating the latter by means of inertia reaction wheels, governed by a servomechanism. Fundamentally, one balances the gravitational forces on the test objects by centrifugal force, determines the latter by measuring the components of angular velocity, and calculatesG from the resulting balance. It is better to use three tunnels than one because their use minimizes the effects of the Earth's gravity-gradient.Many other measurements and corrections are required. The latter arise from Earth gravity-gradient, aerodynamic drag (with the tethered sphere), gravitational forces produced by the spacecraft itself, and the force reductions produced by the empty space in all three tunnels. After the consideration of these effects there is a presentation and discussion of the equations required to reduce the observations to obtainG. There then follow the extra equations, not needed in the reduction, that are required for a computer simulation to investigate the possible extraction of a test object and to aid in designing the servomechanisms.In Appendix B, I have devised another version of the experiment, in which the sphere is kept intact, but has short thin hollow vestigial tunnels attached to the outside of the sphere, along perpendicular diameters. These external tunnels would contain the test objects and the suspension systems. The servomechanisms would then have to prevent collision of a test object with the sphere, as well as extraction. This second method could allow for some inhomogeneities in the sphere, would require no accurate drilling, and would make the suspension systems more accessible for construction and adjustment.This paper was prepared under the sponsorship of the National Aeronautics and Space Administration through NASA Contract NAS 9-8328.     

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.