Numerical integration of the variational equations of satellite orbits

A recurrent power series (RPS) method is constructed for the numerical integration of the equations of motion together with the variational equations of N point masses orbiting around an oblate spheroid. By the term “variational equations” we mean the equations of the partial derivatives of the bodies’ position and velocity components with respect to the initial conditions, the relative masses and the spheroid's oblateness coefficients J₂ and J₄. The construction of recursive relations for the partial derivatives involved in the variational equations is based on partial differentiation of the corresponding recursive relations for the integration of the equations of motion. Since the number of the auxiliary variables needed for this complex system becomes tremendously large when N>1, special care must be taken during computer implementation, so as to minimize the amount of computer memory needed as well as the cost in CPU time. The RPS method constructed in this way is tested for N=1,…,4 using real initial conditions of the Saturnian satellite system. For various sets of satellites, we monitor the behaviour of all the corresponding partial derivatives. The results show a prominent difference in the behaviour of the partial derivatives between resonant and non-resonant orbital systems.     

On the numerical transformation of variables in perturbation theory

Once the generating function of a Lie-type transformation is known, canonical variables can be transformed numerically by application of a Runge-Kutta type integration method or any other appropriate numerical integration algorithm. The proposed approach avails itself of the fact, that the transformation is defined by a system of differential equations with a small parameter as the independent variable. The integration of such systems arising in the perturbation theories of Hori and Deprit is discussed. The method allows to compute numerical values of periodic perturbations without deriving explicitly the perturbation series. This saving of an algebraic work is achieved at the expense of multiple evaluations of the generator's derivatives.     

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。     

Enhancing the Accuracy of Numerical Integration of the Equations of Asteroid Motion with Perturbations from Major Planets and the Moon from the DE Ephemerides

The discontinuous behavior of coordinates of planets and the Moon and their derivatives, which are determined from their modern ephemerides, at the boundaries of adjacent interpolation intervals is illustrated using the example of the DE436 ephemerides. The numerical integration of the equations of motion of two asteroids demonstrates that the integration accuracy increases by several orders of magnitude if the step of numerical integration is matched to the boundaries of ephemeris interpolation intervals. In addition, an algorithm for ephemeris smoothing at the boundaries of interpolation intervals is developed and applied in order to eliminate the jumps of coordinates and their first-order derivatives emerging in extended- and quadprecision calculations. This algorithm allows one to remove the jumps of coordinates and their derivatives up to any given order. It is demonstrated that the use of ephemerides smoothed to the first-order derivatives in quad-precision calculations increases the accuracy of numerical integration by ~10 orders of magnitude.     

Notes on Hori Method for Non-Canonical Systems

In this paper the new approach for the integration theory of the canonical version of Hori method recently proposed is extended to the non-canonical one. It will be shown that the non-homogeneous ordinary differential equation with an auxiliary parameter t* associated with the mth order equation of the algorithm can also be replaced by a non-homogeneous partial differential equation in the time t. Using a generalized canonical approach, the general algorithm proposed by Sessin is then revised; as well as the Lagrange variational equations for the non-canonical version of Hori method. A simplified algorithm derived from Sessin's algorithm is presented for non-linear oscillations problem.     

关于数值求解天体运动方程的几个问题

本文讨论三个问题：1.在采用各种非辛（Symplectic）的数值积分器积分天体运动方程时，截断误差将引起人为的能量耗散，这一问题是不能用简单地在相应的力模型中加进一个人为的阻力因子而得以解决的，被歪曲的能量（或数值轨道）必须在积分过程的每一步用能量关系来进行校正，此即能量控制方法．2.当摄动加速度涉及到坐标轴的旋转时，如何在各种积分器中采用能量控制方法．3.对于大偏心率轨道，用数值方法求解相应运动方程时，积分步长必须随运动天体与中心天体之间的距离变化而改变，显然，这对所有积分器都是不方便的，特别是多步积分器．本义给出了一种步长均匀化的处理，可以使上述大偏心率轨道积分问题按定步长计算．     

A theory of integration for the extended Delaunay method

In this paper a method for the integration of the equations of the extended Delaunay method is proposed. It is based on the equations of the characteristic curves associated with the partial differential equation of Delaunay-Poincaré. The use of the method of characteristics changes the partial differential equation for higher order approximations into a system of ordinary differential equations. The independent variable of the equations of the characteristics is used instead of the angular variables of the Jacobian methods and the averaging principle of Hori is applied to solve the equations for higher orders. It is well known that Jacobian methods applied to resonant problems generally lead to the singularity of Poincaré. In the ideal resonance problem, this singularity appears when higher order approximations of the librational motion are considered. The singularity of Poincaré is non-essential and is caused by the choice of the critical arguments as integration variables. The use of the independent variable of the equation of the characteristics in the place of the critical angles eliminates the singularity of Poincaré.     

The use of integrals in numerical integrations of theN-body problem

The numerical integration of systems of differential equations that possess integrals is often approached by using the integrals to reduce the number of degrees of freedom or by using the integrals as a partial check on the resulting solution, retaining the original number of degrees of freedom.Another use of the integrals is presented here. If the integrals have not been used to reduce the system, the solution of a numerical integration may be constrained to remain on the integral surfaces by a method that applies corrections to the solution at each integration step. The corrections are determined by using linearized forms of the integrals in a least-squares procedure.The results of an application of the method to numerical integrations of a gravitational system of 25-bodies are given. It is shown that by using the method to satisfy exactly the integrals of energy, angular momentum, and center of mass, a solution is obtained that is more accurate while using less time of calculation than if the integrals are not satisfied exactly. The relative accuracy is ascertained by forward and backward integrations of both the corrected and uncorrected solutions and by comparison with more accurate integrations using reduced step-sizes.     

The stability parameters of three-dimensional periodic three-body orbits

Formulae containing the elements of the variational matrix are obtained which determine the linear isoenergetic stability parameters of three-dimensional periodic orbits of the general three-boy problem. This requires the numerical integration of the variational equations but produces the stability parameters with the effective accuracy of the numerical integration. The conditions for stability, criticality, and bifurcations are briefly examined and the stability determination procedure is tested in the determination of some three-dimensional periodic orbits of low inclination bifurcating from vertical-critical coplanar orbits.     

Numerical Integration of Regular Equations of the Planar Motion of Terrestrial Bodies

The parameters of L matrices are applied to the numerical integration of regular equations describing the motion of minor bodies in the Solar System. The problem of the optimal choice of the regularizing change of variables is formulated in the context of the numerical integration of the equations of motion using the Runge–Kutta–Fehlberg method. Arbitrary perturbations are taken into account. This problem is completely solved in the case of planar motion. The solution of the optimization problem reduces the amount of computations needed to determine the vector of perturbing accelerations. Results of numerical integrations are given.     

Lagrange variational equations from Hori's method for canonical systems

Hori, in his method for canonical systems, introduces a parameter through an auxiliary system of differential equations. The solutions of this system depend on the parameter and constants of integration. In this paper, Lagrange variational equations for the study of the time dependence of this parameter and of these constants are derived. These variational equations determine how the solutions of the auxiliary system will vary when higher order perturbations are considered. A set of Jacobi's canonical variables may be associated to the constants and parameter of the auxiliary system that reduces Lagrange variational equations to a canonical form.     

A multiple shooting approach for the numerical treatment of stellar structure and evolution

We present a new numerical method for solving the system of partial differential equations describing the structure and evolution of a spherically symmetric star. As usual, we employ the transversal method of lines in order to split the equations into a coupled spatial and temporal part. The novel features of the algorithm are the following: (a) Instead of using the Lagrangian picture we formulate the system of partial differential equations in the Eulerian picture. (b) We reformulate the equations of stellar structure as a multipoint boundary-value problem. By means of this reformulation the rather clumsy iterative matching procedure of stellar atmosphere and interior is avoided. (c) The multipoint boundary-value problem is solved by the multiple shooting method. This approach not only ensures a high accuracy of the stellar models calculated at each time step but also allows the free boundaries inside the star due to different energy transport mechanisms to be located exactly. (d) The time derivatives involved in the stellar-structure equations are discretized implicitly to second order accuracy. Moreover, at each time step, the chemical abundances are determined by using a sophisticated update procedure. In this way, a high accuracy is achieved with respect to the integration in time. The algorithm has turned out to be exceedingly reliable and numerically accurate. This is shown by the evolution of a 1 M_⊙ star up to the hydrogen-shell burning phase. In this example, the virial theorem, the law of mass conservation, and the law of energy conservation is fulfilled to a hitherto unattainable degree of accuracy. Since the multiple shooting method, which is at the heart of our approach, is a perfect example of a parallel algorithm, the computational speed of the algorithm might be substantially improved provided easy-to-program, high-performance parallel computers with sufficiently many processors become available in the near future.     

Approximate analytic method for high-apogee twelve-hour orbits of artificial Earth’s satellites

We propose an approach to the study of the evolution of high-apogee twelve-hour orbits of artificial Earth’s satellites. We describe parameters of the motion model used for the artificial Earth’s satellite such that the principal gravitational perturbations of the Moon and Sun, nonsphericity of the Earth, and perturbations from the light pressure force are approximately taken into account. To solve the system of averaged equations describing the evolution of the orbit parameters of an artificial satellite, we use both numeric and analytic methods. To select initial parameters of the twelve-hour orbit, we assume that the path of the satellite along the surface of the Earth is stable. Results obtained by the analytic method and by the numerical integration of the evolving system are compared. For intervals of several years, we obtain estimates of oscillation periods and amplitudes for orbital elements. To verify the results and estimate the precision of the method, we use the numerical integration of rigorous (not averaged) equations of motion of the artificial satellite: they take into account forces acting on the satellite substantially more completely and precisely. The described method can be applied not only to the investigation of orbit evolutions of artificial satellites of the Earth; it can be applied to the investigation of the orbit evolution for other planets of the Solar system provided that the corresponding research problem will arise in the future and the considered special class of resonance orbits of satellites will be used for that purpose.     

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.     

Computer-developed construction of analytic expressions for the coordinates and partial derivatives of Jupiter's Galilean satellites

In his effort to develop series expressions for the coordinates of the Galilean satellites accurate to one are second (Jovicentric), R. A. Sampson was forceda priori to adopt certain numerical values for several constants imbedded in his theory. His final numerical values for the series expressions are not amenable to adjustment of the constants of integration nor of physical constants which affect the motion of the satellites. A method which utilizes computer-based algebraic manipulation software has been developed to reconstruct Sampson's theory, to remove existing errors, to introduce neglected effects and to provide analytical expressions for the coordinates as well as for the partial derivatives with respect to orbital parameters, Jupiter and satellite masses, Jupiter's oblateness (J ₂,J ₄) and Jupiter's pole and period of rotation. The computer-based manipulations enable one to perform, for example, the approximately 10⁸ multiplications required in calculating some perturbations (and their partial derivatives) of Satellite II by Satellite III with ease, and provide algebraic expressions which can readily be adjusted to generate theories corresponding to revised constants of integration and physical parameters.     

On the history of the lunar orbit

A frequency-dependent model of tidal friction is used in the determination of the time rate of change of the lunar orbital elements and the angular velocity of the Earth. The variational equations consider eccentricity, the solar tide on the Earth, Earth oblateness, and higher-order terms in the Earth's tidal potential. A linearized solution of the equations governing the precission of the Earth's rotational angular momentum and the lunar ascending node is found. This allows the analytical averaging of the variational equations over the period of relative precession which, though large, is necessarily small in comparison to the time step of the numerical integrator that yields the system history over geological time. Results for this history are presented and are identified as consistent with origin of the Moon by capture. This model may be applied to any planet-satellite system where evolution under tidal friction is of interest.     

Notes on Hori Method for Canonical Systems

In this paper a slightly different approach is proposed for the process of determining the functions S _m and H _m ^* of the algorithm of the canonical version of Hori method. This process will be referred to as integration theory of the mth order equation of the method. It will be shown that the ordinary differential equation with an auxiliary parameter t ^* as independent variable, introduced through Hori auxiliary system, can be replaced by a partial differential equation in the time t. In this way, the mth order equation of the algorithm assumes a form very similar to the one of other perturbation methods. In virtue of this new approach of the integration theory for Hori method, Lagrange's variational equations introduced by Sessin are revised. As an example, the Duffing equation is solved through this new approach.     

Integration rules from the equivalent differential equation method applied to equations of motion

The numerical integration of equations of motion necessarily implies the presence of errors that depend on initial conditions as well as the different physical parameters under consideration. More particularly, dumping or dissipative terms can appear and it is especially interesting to determine its causes. The equivalent differential equation method may allow the errors from a certain numerical scheme to be analyzed and, together with other considerations, can help us to eliminate or reduce them.     

Numerical stabilization of all laws of conservation in the many body problem

When a system of differential equations admits a first integral (e.q. the law of energy), the value of that integral may be used as a check during the numerical integration. Often this check is satisfied with poor accuracy since the existence of the first integral is unknown to the computer. The aim of the paper is to show how such a first integral can be satisfied with better accuracy and in a stabilized manner by adding an appropriate control term to the differential system. The accuracy of the numerical integration is thereby improved. The basic idea is applied to the problem ofN bodies.Presented at the Conference on Celestial Mechanics, Oberwolfach, Germany, August 27–September 2, 1972.     

An intermediate matching technique for solving two point boundary value problems using the perturbation method

The perturbation method, a numerical method for solving two point boundary value problems (TPBVP), is modified to attempt to improve inherent instability and sensitivity problems associated with the method. The desired solution to the TPBVP is divided into two time intervals. The differential equations required to define a solution to the two point boundary value problem are integrated independently over these shorter segments rather than consecutively over the entire trajectory. The independent integration of the differential equations over approximately half of the trajectory instead of the entire trajectory substantially decreases sensitivity and stability properties associated with the numerical integration. The equations for both time segments can be integrated simultaneously. By this procedure, a system of twice the dimension of the original problem is integrated for a period of time equal to half of the time interval for the original problem. To show the effectiveness of the method, two impulse trajectories which minimize the total velocity increment required to transfer a spacecraft from an Earth orbit into a lunar orbit are calculated.