Orbital mechanics

Servers in dawn-dusk orbit

Posted on by John

Despite the predictions that no one would ever put build data centers in space, Google is starting on Thursday. Google’s prototype satellite will be one of 130 payloads on SpaceX’s Transporter 18 mission on October 1.

The server will follow a dawn-dusk orbit, a special case of a sun-synchronous orbit (SSO), following the terminator line between daylight on dark on the earth below. A dawn-dusk orbit allows the satellite’s solar panels to stay in nearly continuous daylight, while also being in a relatively inexpensive low earth orbit (LEO). Geostationary orbit (GEO) would allow solar panels to always receive sunlight, but launching a satellite into GEO requires more fuel and so is more expensive.

Another advantage of LEO is that radiation levels are a couple orders of magnitude less than at GEO. Lower radiation means electronics do not need to be as hardened against radiation.

A dawn-dusk orbit would not be possible if the earth were perfectly spherical. The earth’s equatorial bulge makes it possible to design an orbit that precesses once per year. David Hammen explains this in an answer to a question on the Space Exploration Stack Exchange site.

If the Earth had a spherically distributed gravitational field, a satellite’s right ascension of ascending node would be constant. … Fortunately, the Earth’s gravitational field is not spherical. The Earth’s rotation results in an equatorial bulge. This equatorial bulge causes RAAN to precess (or recess). …

Sun synchronous orbits are chosen so that RAAN precesses by 360 degrees per year, or a bit less than one degree per day. …

A dawn-dusk satellite is a special case of a sun synchronous orbit. … A dawn-dusk orbit typically does not quite follow the terminator. Following the terminator would require a rather high orbit.

Related posts

Nathaniel Bowditch

Posted on by John

A couple days ago a friend told me about the book Carry On, Mr. Bowditch, a fictional account of the life of Nathaniel Bowditch (1773–1838). I’ve been listening to the book on Audible, and apparently it’s only lightly fictionalized.

Bowditch was a self-educated mathematician and astronomer, best known for his book The American Practical Navigator, first published in 1801. The book has been continually revised over the last two centuries and is still in print, available for download from the National Geospatial-Intelligence Agency. The latest edition begins with a brief account of Bowditch’s life, confirming the essential details of the fictional biography.

Two things stand out about Bowditch: his attention to detail and his desire to make ideas accessible. He taught himself Latin in order to read Newton’s Principia and followed the text so closely that he found a number of errors.

Bowditch’s navigation book grew out of the numerous corrections he made to error he found in John Hamilton Moore’s The Practical Navigator, the leading navigation text of the time.

At the beginning of the 19th century it was theoretically possible to determine time, and hence longitude, from lunar observation. However, the method required ideal observation conditions and laborious calculation. Bowditch developed a way to make the necessary measurements under more general conditions, and simplified the necessary calculations. According to the biographical preface mentioned above,

Bowditch vowed while writing this edition [of his navigation text] to “put down in the book nothing I can’t teach the crew,” and it is said that every member of his crew including the cook could take a lunar observation and plot the ship’s position.

After completing The American Practical Navigator, Bowditch began an English translation of Pierre Laplace’s encyclopedic Mecanique Celeste, filling in details to make the work accessible to a wider audience. He was able to translate four out of the five volumes by the end of his life.

Related posts

The difference orbit inclination makes

Posted on by John

Suppose you wanted to find the distance between Earth and Mars over time. To first approximation, both planets orbit the sun in elliptic orbits in the same plane.

If you wanted to be more accurate, you’d need to take into account the fact that the orbit of Mars is tilted about 1.85° relative to the Earth’s orbit. How much difference does that make?

To simplify things, let’s assume the Earth orbits the sun in a circle of radius 1 and Mars orbits the sun in a circle of radius 1.5. The distance between Earth and Mars over time would be basically sinusoidal.

How much does inclination contribute to this distance? In other words, what is the difference between the distance accounting for the inclination of Mars’ orbit and the distance if we assume the two orbits are in the same plane?

This plot gives the answer.

The effect is not large, about three orders of magnitude smaller than the main effect, but it’s interesting how erratic it is.

The plots were made with the following code.

from numpy import *

R = 1.5
T = R**1.5 # Kepler's third law

def f(t, theta):
    return sqrt(
        (cos(t) - R*cos(t/T)*cos(theta))**2 +
        (sin(t) - R*sin(t/T))**2 +
        (R*sin(theta)*cos(t/T))**2
    )

The first plot graphs f(t, θ) and the second graphs f(t, θ) − f(t, 0).

Mean distance to the sun

Posted on by John

Suppose you have a planet in an elliptical orbit around a star. The math is identical for any light object orbiting a heavy object, such as a moon or satellite orbiting a planet, but we’ll call the heavy object a star and the light object a planet.

The center of the star is not quite the center of the orbit. The planet moves along an ellipse with the star at one focus of that ellipse.

Let a be the semi-major axis of planet’s orbit, the maximum distance from the center of the ellipse to a point on the ellipse. Then the distance of a focus to the center of the ellipse is ae where e is the eccentricity of the ellipse. This defines eccentricity. The center of earth’s orbit is between three and four solar radii away from the center of the sun [1].

The planet is farthest from the star when it is along the major axis of the ellipse on the opposite side as the star. The distance is then a + ae, the distance to the center plus the distance from the center to the star. On the opposite side of its orbit, the planet is closest to the star. There the distance is a − ae. In summary the maximum distance to the star is

a(1 + e)

and the minimum distance is

a(1 − e).

If you had to guess the average distance between the planet and its star, a would be a good guess since it’s the average of the maximum and minimum distance. And that’s a good approximation, provided e is small. The mean distance over time is

a(1 + ½e²).

See derivation. The average distance is greater than a because the planet moves faster when nearest the star and slower when further from the star.

The relative error in approximating the mean distance by a is then ½e². When e is small, ½e² is very small. For the earth’s orbit, e = 0.01671, and so the approximation is off by around 0.014%.

The eccentricity of Pluto’s orbit is 0.2488, and so in that case the approximation is off by about 3.1%. The eccentricity of a Molniya orbit, used by some Russian satellites, is 0.74 [2]. For such satellites the error in approximating the mean distance to earth as the semimajor axis is around 27%.

Related posts

[1] For earth’s orbit, e = 0.01671, a = 1.496×1011 m, and the sun’s radius is r = 6.957×108 m. And so ea / r = 3.59.

[2] An object in such a highly elliptical orbit will spend a long time at the far side of its orbit, i.e. over Russia. Sort of a poor man’s geostationary orbit.

The Laplace limit

Posted on by John

An earlier post discussed how to solve Kepler’s equation

M = E − e sin(E)

using a sine series. You could also solve Kepler’s equation using a power series, which Lagrange did in 1771. Both approaches express E as a function of e and M, but from different perspectives. Bessel thought of his solution as a sum of sines in M, with coefficients that depend on e. Lagrange thought of his solution as a power series in e whose coefficients involve sines in M. You can rearrange the terms of either solution into the other.

The most interesting thing about the power series solution, in my opinion, is that it only converges for e less than roughly 2/3 while the sine series solution is valid for all e < 1. In astronomical terms, this means the power series solution works for the orbit of some planets but not others!

In our solar system, the planets all have eccentricity well below 2/3, but not all minor planets do. For example, the orbit of Eris has eccentricity 0.4407 but the orbit of Sedna has eccentricity 0.8549. And in other solar systems there are planets with eccentricity much greater than 2/3.

The Laplace limit

The radius of convergence for Lagrange’s power series solution is called the Laplace limit. Its value is eL = 0.6627…. There’s no obvious reason why there’s anything special about this value. There’s no astronomical reason for this value. It’s an artifact of the power series form of the solution.

If the series works for e = 0.66, you would reasonably think it works for e = 0.67, but that’s not the case. And if you’re observant, you might notice that although the series works for e = 0.66, it takes longer to converge than for smaller values of e; the rate of convergence is slowing down, warning you of danger ahead.

The exact value of eL is the unique real solution to the equation

x \exp\left(\sqrt{1 + x^2}\right) = 1 + \sqrt{1 + x^2}

There’s no obvious reason for this either. It has to do with finding the largest circle that can fit in a lens-shaped region of convergence. More on that here.

We can calculate eL with the following Python code.

from math import exp
from scipy.optimize import root_scalar

def f(x):
    t = (1 + x*x)**0.5
    return x*math.exp(t) - 1 - t

sol = root_scalar(f, bracket=[0, 1], method='brentq')
print(sol.root)

This prints 0.6627434193491817.

Series details

We can use the Lagrange inversion formula to find the series, just as Lagrange did two and a half centuries ago.

E = M+ \sum_{n=1}^{\infty} \frac{e^n}{n!} \frac{d^{\,n-1}}{dM^{\,n-1}} \left(\sin^n M\right)

The powers of sine can be expanded into the sum of sines of various frequencies and differentiated, leading to the equation

E = M+ \sum_{n=1}^{\infty} \frac{e^n}{2^{\,n-1}n!} \sum_{k=0}^{\lfloor n/2\rfloor} (-1)^k \binom{n}{k} (n-2k)^{n-1} \sin\!\big((n-2k)M\big)

 

From Kepler to Bessel

Posted on by John

The previous post very briefly said that the integral representation for Bessel functions was motived by solving Kepler’s equation. This post will go into more detail.

Kepler’s equation

There are multiple ways to describe the position of a planet in an elliptical orbit around a star. For historical reasons, these descriptions have arcane names such as mean anomaly, true anomaly, and eccentric anomaly. This post explains how these three are related.

For this post, it is enough to say that often you know mean anomaly M and want to know eccentric anomaly E. These are related via Kepler’s equation

M = E - e \sin E
where e is the eccentricity of the orbit. You’d like to solve for E as a function of M and e, but there’s no elementary way to do that.

One way to solve Kepler’s equation is to take a guess at E and plug it into the right hand side of

E = M + e \sin E
to get a new E, and keep iterating until the two sides are closer together. I write more about this here.

Another approach to solving Kepler’s equation is to use Newton’s method. I write more about that here.

Still another approach is to expand E in a sine series and find the series coefficients. An advantage to this approach is that once you have the coefficients, you have an expression for E as a function of M, and you can plug in more values of M without having to solve Kepler’s equation for each value of M separately.

Sine series coefficients

Kepler’s equation is easy to solve at E = 0 and at E = π. In both cases, E = M. So the function E − M is zero at both ends of [0, π], which suggests we try to expand E − M in a sine series

E - M = \sum_{n=1}^\infty a_n \sin nM

We then calculate the Fourier coefficients an as usual.

\begin{align*} a_n &= \frac{2}{\pi} \int_0^\pi (E-M) \sin(nM) \, dM \\ &= \frac{2}{n \pi} \int_0^\pi (E^\prime - 1) \cos(nM)\, dM \\ &= \frac{2}{n \pi} \int_0^\pi \cos(nM) E^\prime(M) \, dM \\ &= \frac{2}{n \pi} \int_0^\pi \cos\Big(nE - ne\sin(E)\Big) E^\prime(M) \, dM \\ &= \frac{2}{n} \left\{ \frac{1}{\pi} \int_0^\pi \cos\Big(nE - ne \sin(E)\Big)\, dE\right\} \\ &= \frac{2}{n} J_n(ne) \end{align*}

The second line uses integration by parts. The third line uses Kepler’s equation. The last line uses the definition of the Bessel functions Jn given in the previous post.

Roman moon, Greek moon

Posted on by John

I used the term perilune in yesterday’s post about the flight path of Artemis II. When Artemis is closest to the moon it will be furthest from earth because its closest approach to the moon, its perilune, is on the side of the moon opposite earth.

Perilune is sometimes called periselene. The two terms come from two goddesses associated with the moon, the Roman Luna and the Greek Selene. Since the peri- prefix is Greek, perhaps periselene would be preferable. But we’re far more familiar with words associated with the moon being based on Luna than Selene.

The neutral terms for closest and furthest points in an orbit are periapsis and apoapsis. but there are more colorful terms that are specific to orbiting particular celestial objects. The terms perigee and apogee for orbiting earth (from the Greek Gaia) are most familiar, and the terms perihelion and aphelion (not apohelion) for orbiting the sun (from the Greek Helios) are the next most familiar.

The terms perijove and apojove are unfamiliar, but you can imagine what they mean. Others like periareion and apoareion, especially the latter, are truly arcane.

Artemis II, Apollo 8, and Apollo 13

Posted on by John

The Artemis II mission launched yesterday. Much like the Apollo 8 mission in 1968, the goal is to go around the moon in preparation for a future mission that will land on the moon. And like Apollo 13, the mission will swing around the moon rather than entering lunar orbit. Artemis II will deliberately follow the trajectory around the moon that Apollo 13 took as a fallback.

Apollo 8 spent 2 hours and 44 minutes in low earth orbit (LEO) before performing trans-lunar injection (TLI) and heading toward the moon. Artemis II made one low earth orbit before moving to high earth orbit (HEO) where it will stay for around 24 hours before TLI. The Apollo 8 LEO was essentially circular at an altitude of around 100 nautical miles. The Artemis II HEO is highly eccentric with an apogee of around 40,000 nautical miles.

Apollo 8 spent roughly three days traveling to the moon, measured as the time between TLI and lunar insertion orbit. Artemis II will not orbit the moon but instead swing past the moon on a “lunar free-return trajectory” like Apollo 13. The time between Artemis’ TLI and perilune (the closest approach to the moon, on the far side) is expected to be about four days. For Apollo 13, this period was three days.

The furthest any human has been from earth was the Apollo 13 perilune at about 60 nautical miles above the far side of the moon. Artemis is expected to break this record with a perilune of between 3,500 and 5,200 nautical miles.

Related posts

Visualizing orbital velocity

Posted on by John

The shape of a planet’s orbit around a star is an ellipse. To put it another way, a plot of the position of a planet’s orbit over time forms an ellipse. What about the velocity? Is its plot also an ellipse? Surprisingly, a plot of the velocity forms a circle even if a plot of the position is an ellipse.

If an object is in a circular orbit, it’s velocity vector traces out a circle too, with the same center. If the object is in an elliptical orbit, it’s velocity vector still traces out a circle, but one with a different center. When the orbit is eccentric, the hodograph, the figure traced out by the velocity vector, is also eccentric, though the two uses of the word “eccentric” are slightly different.

The eccentricity e of an ellipse is the ratio c/a where c is the distance between the two foci and a is the semi-major axis. For a circle, c = 0 and so e = 0. The more elongated an ellipse is, the further apart the foci are relative to the axes and so the greater the eccentricity.

The plot of the orbit is eccentric in the sense that the two foci are distinct because the shape is an ellipse. The hodograph is eccentric in the sense that the circle is not centered at the origin.

The two kinds of eccentricity are related: the displacement of the center of the hodograph from the origin is proportional to the eccentricity of the ellipse.

Imagine the the orbit of a planet with its major axis along the x-axis and the coordinate of its star positive.  The hodograph is a circle shifted up by an amount proportional to the eccentricity of the orbit e. The top of the circle corresponds to perihelion, the point closest to the star, and the bottom corresponds to aphelion, the point furthest from the star. For more details, see the post Max and min orbital speed.

Satellites have a lot of room

Posted on by John

I saw an animation this morning showing how the space above our planet is dangerously crowded with satellites. That motivated me to do a little back-of-the-envelope math.

The vast majority of satellites are in low earth orbit (LEO), which extends from 160 to 2000 km above the earth’s surface. The radius of the earth is about 6400 km, so the volume of the LEO region is

\frac{4\pi}{3} \left((6400 + 2000)^3 - (6400 + 160)^3\right) \text{km}^3 = 1.3 \times 10^{12} \,\text{km}^3

There are about 12,500 satellites in LEO, so the average volume of LEO per satellite is about 100,000,000 km³.

Now this isn’t the last word in collision avoidance—there are lots of complications we’re not going to get into here—but it is the first word: there’s a lot of space in space.