Numerical aspects of time elements

Numerical results have shown that the use of time elements with time transformations provides increased accuracy in the numerical solution of gravitational systems.To gain additional accuracy improvements, it appears that the time and the time element should be calculated from quantities that have been adjusted so as to satisfy the energy integral exactly.We also have found that by reducing the growth of the time element to being nearly linear rather than quadratic causes an increase in the magnitude of the local truncation error in the solution but with a decrease in the rate of growth of the truncation error.     

The Long-term Error Estimation Method for the Numerical Integrations of Celestial Orbits

Numerical methods have become a very important type of tool for celestial mechanics, especially in the study of planetary ephemerides. The errors generated during the computation are hard to know beforehand when applying a certain numerical integrator to solve a certain orbit. In that case, it is not easy to design a certain integrator for a certain celestial case when the requirement of accuracy were extremely high or the time-span of the integration were extremely large. Especially when a fixed-step method is applied, the caution and effort it takes would always be tremendous in finding a suitable time-step, because it is about whether the accuracy and time-cost of the final result are acceptable. Thus, finding the best balance between efficiency and accuracy with the least time cost appeared to be a major obstruction in the face of both numerical integrator designers and their users. To solve this problem, we investigate the variation pattern of truncation error and the pattern of rounding error distributions with time-step and time-span of the integration. According to those patterns, we promote an error estimation method that could predict the distribution of rounding errors and the total truncation errors with any time-step at any time-spot with little experimental cost, and test it with the Adams-Cowell method in the calculation of circular periodic orbits. This error estimation method is expected to be applied to the comparison of the performance of different numerical integrators, and also it can be of great help for finding the best solution to certain cases of complex celestial orbits calculations.     

The development of the Poincaré-similar elements with eccentric anomaly as the independent variable

A new set of element differential equations for the perturbed two-body motion is derived. The elements are canonical and are similar to the classical canonical Poincaré elements, which have time as the independent variable. The phase space is extended by introducing the total energy and time as canonically conjugated variables. The new independent variable is, to within an additive constant, the eccentric anomaly. These elements are compared to the Kustaanheimo-Stiefel (KS) element differential equations, which also have the eccentric anomaly as the independent variable. For several numerical examples, the accuracy and stability of the new set are equal to those of the KS solution. This comparable accuracy result can probably be attributed to the fact that both sets have the same time element and very similar energy elements. The new set has only 8 elements, compared to 10 elements for the KS set. Both sets are free from singularities due to vanishing eccentricity and inclination.     

The theory of asynchronous relative motion I: time transformations and nonlinear corrections

Using alternative independent variables in lieu of time has important advantages when propagating the partial derivatives of the trajectory. This paper focuses on spacecraft relative motion, but the concepts presented here can be extended to any problem involving the variational equations of orbital motion. A usual approach for modeling the relative dynamics is to evaluate how the reference orbit changes when modifying the initial conditions slightly. But when the time is a mere dependent variable, changes in the initial conditions will result in changes in time as well: a time delay between the reference and the neighbor solution will appear. The theory of asynchronous relative motion shows how the time delay can be corrected to recover the physical sense of the solution and, more importantly, how this correction can be used to improve significantly the accuracy of the linear solutions to relative motion found in the literature. As an example, an improved version of the Clohessy-Wiltshire (CW) solution is presented explicitly. The correcting terms are extremely compact, and the solution proves more accurate than the second and even third order CW equations for long propagations. The application to the elliptic case is also discussed. The theory is not restricted to Keplerian orbits, as it holds under any perturbation. To prove this statement, two examples of realistic trajectories are presented: a pair of spacecraft orbiting the Earth and perturbed by a realistic force model; and two probes describing a quasi-periodic orbit in the Jupiter-Europa system subject to third-body perturbations. The numerical examples show that the new theory yields reductions in the propagation error of several orders of magnitude, both in position and velocity, when compared to the linear approach.     

天体轨道长期数值积分的误差估计方法

数值积分方法是进行天体力学研究的重要工具, 尤其对于行星历表的研究工作而言. 由于在使用数值方法计算天体轨道时, 最终误差通常是难以预知的, 所以在面对精度要求较高或者积分时间较长的工作时具体积分方案的设计---尤其是当使用定步长方法时的步长选择---需要十分谨慎, 因为这将意味着是否能在时间成本可以被接受的范围内使解的精度达到要求. 因此, 在使用数值方法解决实际问题时如何快速寻找效率与精度之间的最佳平衡点是每一个数值积分方法的设计者与使用者都会面临的难题. 为解决这一问题, 在定步长条件下对数值积分方法的舍入误差概率分布函数以及截断误差积累量对步长的依赖关系和随时间的增长关系进行了深入研究. 基于所得结论, 提出了一种仅需较少的数值实验资料即可对选择任意时间步长积分至任意积分时刻时的舍入误差概率分布函数与截断误差积累量进行准确估计的方法, 并使用Adams-Cowell方法对该误差估计方法在圆周期轨道条件下进行了验证. 该误差估计方法在未来有望用于不同数值算法的性能对比研究, 同时也可以对数值积分方法求解实际轨道问题时的决策工作带来重要帮助.     

Stabilization by modification of the Lagrangian

In order to reduce the error growth during a numerical integration, a method of stabilization, of the differential equations of the Keplerian motion is offered. It is characterized by the use of the eccentric anomaly as independent variable in such a way that the time transformation is given by a generalized Lagrange formalism. The control terms in the equations of motion obtained by this modified Lagrangian give immediately a completely Lyapunov-stable set of differential equations. In contrast to other publications, here the equation of time integration is modified by a control term which leads to an integral which defined the time element for the perturbed Keplerian motion.This paper was supported by the National Research Council and the National Aeronautics and Space Administration and also by the Deutsche Forschungsgemeinschaft. It was presented at the Flight Mechanics/Estimation Theory Symposium, Goddard Space Flight Center, Greenbelt, Md., April 15–16, 1975.     

Numerical stabilization of the differential equations of Keplerian motion

A stabilization of the classical equations of two-body motion is offered. It is characterized by the use of the regularizing independent variable (eccentric anomaly) and by the addition of a control-term to the differential equations. This method is related to the KS-theory (Stiefel, 1970) which performed for the first time a stabilization of the Kepler motion. But in contrast to the KS-theory our method does not transform the coordinates of the particle. As far as the theory of stability and the numerical experiments are concerned we restrict ourselves to thepure Kepler motion. But, of course, the stabilizing devices will also improve the accuracy of the computation of perturbed orbits. We list, therefore, also the equations of the perturbed motion.     

A fourth-order solution of the ideal resonance problem

The second-order solution of the Ideal Resonance Problem, obtained by Henrard and Wauthier (1988), is developed further to fourth order applying the same method. The solutions for the critical argument and the momentum are expressed in terms of elementary functions depending on the time variable of the pendulum as independent variable. This variable is related to the original time variable through a Kepler-equation. An explicit solution is given for this equation in terms of elliptic integrals and functions. The fourth-order formal solution is compared with numerical solutions obtained from direct numerical integrations of the equations of motion for two specific Hamiltonians.     

Behaviour of the SMF method for the numerical integration of satellite orbits

The SMF algorithms were recently developed by the authors as a multistep generalization of the ScheifeleG-functions one-step method. Like the last, the proposed codes integrate harmonic oscillations without truncation error and the perturbing parameter appears as a factor of that error when integrating perturbed oscillations. Therefore they seemed to be convenient for the accurate integration of orbital problems after the application of linearizing transformations, such as KS or BF. In this paper we present several numerical experiments concerning the propagation of Earth satellite orbits, that illustrate the performance of the the SMF method. In general, it provides greater accuracy than the usual standard algorithms for similar computational cost.     

Studies in the application of recurrence relations to special perturbation methods

The numerical integration of the differential equations describing dynamical systems has been shown in previous papers of this series to be most effectively accomplished by an explicit Taylor series method.In this paper we show that one explicit Taylor series method, developed earlier in this series and which appears to possess a high degree of versatility, yields considerable gains in efficiency over classical single-step and multi-step methods. (In this context efficiency is a measure of the time taken to carry out a calculation of a specific accuracy).For a given accuracy criterion governing the local truncation error (LTE) it is found that the Taylor series method is generallytwice as fast as the classical multi-step method and up totwenty times faster than the classical single-step method.     

Dynamical model of motion for asteroids based on the DE405 theory

A numerical model of motion for asteroids was developed on the basis of the DE405 theory. The positions of main-belt asteroids are calculated accurate to 0.03 mas when the integration is taken over a 50-year interval. For the model to be computationally stable, the local truncation error of integration should be equal to 10^?14 and the double precision of the Standard for Binary Floating-Point Arithmetic IEEE 754-1985 should be used.     

Integration error over very long time spans

The main limit to the time span of a numerical integration of the planetary orbits is no longer set by the availability of computer resources, but rather by the accumulation of the integration error. By the latter we mean the difference between the computed orbit and the dynamical behaviour of the real physical system, whatever the causes. The analysis of these causes requires an interdisciplinary effort: there are physical model and parameters errors, algorithm and discretisation errors, rounding off errors and reliability problems in the computer hardware and system software, as well as instabilities in the dynamical system. We list all the sources of integration error we are aware of and discuss their relevance in determining the present limit to the time span of a meaningful integration of the orbit of the planets. At present this limit is of the order of 10⁸ years for the outer planets. We discuss in more detail the truncation error of multistep algorithms (when applied to eccentric orbits), the coefficient error, the method of Encke and the associated coordinate change error, the procedures used to test the numerical integration software and their limitations. Many problems remain open, including the one of a realistic statistical model of the rounding off error; at present, the latter can only be described by a semiempirical model based upon the simpleN ² formula (N=number of steps, =machine accuracy), with an unknown numerical coefficient which is determined only a posteriori.     

Beware λ-truncation! Sample truncation and bias in luminosity calibration using trigonometric parallaxes

The common practice in luminosity calibration of sample truncation according to relative parallax error λ can lead to bias with indirect methods such as reduced parallaxes as well as with direct methods. This bias is not cancelled by the Lutz–Kelker corrections and in fact can be either negative or positive. Making the selection stricter can actually lead to a larger absolute amount of bias and lower accuracy in certain cases.
The degree to which this bias is present depends upon whether the sample is more nearly specified by the relative parallax error or by the limiting apparent magnitude when both limits formally apply; when the latter limit dominates it is absent. The difference between the means for the two extreme cases is what is customarily termed the Malmquist bias. However, it is not truly bias, but rather what we call here an offset .
For a sample to be effectively magnitude-limited, there is a lower bound imposed on the mean absolute magnitude which depends on the limiting magnitude. If a wide-ranging luminosity relation such as the Wilson–Bappu relation is to be calibrated, some portion of the relation may be magnitude-limited and the rest not. In that case there will be offsets between the different parts of the relation, including the transition region between the two extremes, as well as bias outside the magnitude-limited part.
Another, less common, practice is truncation according to weight, specifically with the reduced parallax method. Such truncation can also bias the calibration with one variant of the method. Indeed, the weighting scheme used with that variant introduces bias even without truncation.
For calibration it is probably best to use a general maximum likelihood method such as the grid method with a magnitude-limited sample and no limit on relative parallax error. The Malmquist shift could then be applied to obtain an estimate of the volume-limited mean.     

Keplerian motion and gyration

An equivalence between Keplerian motion and harmonic oscillations has been established by Burdet by using essentially the true anomaly as a new independent variable. In this paper, a relation between these oscillator equations and the motion of a gyroscope is derived. Important numerical and analytical consequences are discussed.     

On error bounds and initialization in satellite orbit theories

The order of magnitude of the error is investigated for a first-order von Zeipel theory of satellite orbits in an axisymmetric force field, i.e., first-order long period and short-period effects are included along with second order secular rates. The treatment is valid for zero eccentricity and/or inclination. In the case where initial position and velocity vectors are known, the in-track position error over time intervals of order 1/J ₂ is kept at 0(J ₂ ²), like the other position errors and velocity errors, by calibration of the mean motion with the aid of the energy integral. The results are specifically applicable to accuracy comparisons of the Brouwer orbit prediction method with numerical integration. A modified calibration is presented for the general asymmetric force field which includes tesseral harmonics.     

Enhancement of on-board forecasting accuracy of GEO SC COG motion using the compensative transversal acceleration

A method is suggested for enhancing the on-board forecasting accuracy of the COG motion of a GEO SC with a long time of independent operation. The suggested method consists of introducing so-called compensative transversal acceleration (CTA), along with zonal harmonics into the right sides of the differential equations of SC motion among other disturbances due to the Earth’s gravitational field eccentricity. The CTA compensates the integral effect of the sectoral and tesseral harmonics; its value is constant for a specified point of GEO SC location (standing point) and is calculated on the Earth from numerical integration of differential equations of motion taking into account the complete set of gravitational field harmonics. The CTA value is transmitted on-board of an SC as program command data. The method is implemented in algorithms of on-board forecasting of Electro-L SC motion and can be used to enhance the on-board forecasting accuracy of the COG motion of GEO SCs with a long time of independent operation.     

Recent progress in the theory and application of symplectic integrators

In this paper various aspect of symplectic integrators are reviewed. Symplectic integrators are numerical integration methods for Hamiltonian systems which are designed to conserve the symplectic structure exactly as the original flow. There are explicit symplectic schemes for systems of the formH=T(p)+V(q), and implicit schemes for general Hamiltonian systems. As a general property, symplectic integrators conserve the energy quite well and therefore an artificial damping (excitation) caused by the accumulation of the local truncation error cannot occur. Symplectic integrators have been applied to the Kepler problem, the motion of minor bodies in the solar system and the long-term evolution of outer planets.     

The computation of relative motion with increased precision

Encke's method as modified by Potter to increase the accuracy of orbit computations of gravitationally interacting bodies is applied to the problem of relative motion of non-interacting space vehicles. This technique is then combined with a simple transformation of the independent variable to arrive at a system of equations from which the relative motion may be determined with increased precision.     

Explicit algorithmic regularization in the few-body problem for velocity-dependent perturbations

A new algorithm is presented for the numerical integration of second-order ordinary differential equations with perturbations that depend on the first derivative of the dependent variables with respect to the independent variable; it is especially designed for few-body problems with velocity-dependent perturbations. The algorithm can be used within extrapolation methods for enhanced accuracy, and it is fully explicit, which makes it a competitive alternative to standard discretization methods.