Orbital Mechanics – Equations and Algorithms – By: Matt Rulli (Revision 1)

Kepler’s Laws 𝑘𝑚3 𝑘𝑚3 𝐴𝑈 = 1.495978 × 108 𝑘𝑚 ̂ 𝑎𝑛𝑑 ⃗𝒃 = 𝑏𝑥 ∙ 𝒊̂ + 𝑏𝑦 ∙ 𝒋̂ + 𝑏𝑧 ∙ 𝒌 ̂

𝜇𝑒𝑎𝑟𝑡ℎ = 3.986 × 10 5
𝜇𝑠𝑢𝑛 = 1.327 × 1011 2 2
Where: 𝒂 ⃗ = 𝑎𝑥 ∙ 𝒊̂ + 𝑎𝑦 ∙ 𝒋̂ + 𝑎𝑧 ∙ 𝒌
#1) Orbits are elliptical with the orbited body at one focus. 𝑠2 𝑠 −11 𝑁∙𝑚
𝐺 = 6.6743 × 10 ⃗
#2) The radial vector sweeps out equal areas in equal time. 𝑟𝑎𝑑𝑖𝑢𝑠𝑒𝑎𝑟𝑡ℎ = 6.37812 × 103 𝑘𝑚 𝑟𝑎𝑑𝑖𝑢𝑠𝑠𝑢𝑛 = 6.9599 × 105 𝑘𝑚 𝑘𝑔 2
Dot Product: 𝒂⃗ ∙ 𝒃 = (𝑎𝑥 𝑏𝑥 ) + (𝑎𝑦 𝑏𝑦 ) + (𝑎𝑧 𝑏𝑧 )
𝐺𝑚1𝑚2
#3) 𝑇 2 ∝ 𝑎3 𝑚𝑎𝑠𝑠𝑒𝑎𝑟𝑡ℎ = 5.974 × 1024 𝑘𝑔 𝑚𝑎𝑠𝑠𝑠𝑢𝑛 = 1.989 × 1030 𝑘𝑔 𝐹12 = ⃗ ×𝒃
Cross Product: 𝒂 ⃗ = (𝑎𝑦 𝑏𝑧 − 𝑎𝑧 𝑏𝑦 ) ∙ 𝒊̂ + (𝑎𝑧 𝑏𝑥 − 𝑎𝑥 𝑏𝑧 ) ∙ 𝒋̂ + (𝑎𝑥 𝑏𝑦 − 𝑎𝑦 𝑏𝑥 ) ∙ 𝒌
̂
𝑟
Orbits Maneuvers and Transfers
𝐄𝐥𝐥𝐢𝐩𝐭𝐢𝐜𝐚𝐥 (𝟎 < 𝒆 < 𝟏) ( 𝒂+ ) ( 𝜺− ) 𝐂𝐢𝐫𝐜𝐮𝐥𝐚𝐫 ( 𝒆 = 𝟎) (𝒂 = 𝒓) (𝜺− ) Energy and Velocity Coplanar Hohmann Transfer 𝐺𝑖𝑣𝑒𝑛 𝑟𝑖 𝑎𝑛𝑑 𝑟𝑓 Combined Hohmann Transfer (with plane change)
𝑎(1 − 𝑒 2 ) 𝑝 𝜇 1 𝜇 𝜇 𝑟𝑓 𝜇
𝑟= = 𝑣=√ 𝑎 = 𝑟𝑝 = 𝑟𝑎 𝐸= ‖𝑣 ‖2 − =− Δ𝑣1 = 𝑣𝑡𝑟𝑎𝑛𝑠,𝑝 − 𝑣𝑖 = √2𝜇 ( ) −√ Δ𝑣 = √𝑣(𝑡𝑘− )2 + 𝑣(𝑡𝑘+ )2 − 2𝑣(𝑡𝑘− )𝑣(𝑡𝑘+ ) cos(𝛥𝜃)
1 + 𝑒 ∙ 𝑐𝑜𝑠(𝑓) 1 + 𝑒 ∙ 𝑐𝑜𝑠(𝑓) 𝑟 2 ‖𝑟‖ 2𝑎 𝑟𝑖 (𝑟𝑖 + 𝑟𝑓 ) 𝑟𝑖
Plane Change on Initial Burn
𝑝 ℎ2 2 1 𝜇 𝑟𝑖
𝑟𝑝 = 𝑎(1 − 𝑒) = = 𝐇𝐲𝐩𝐞𝐫𝐛𝐨𝐥𝐢𝐜 (𝒆 > 𝟏) (𝒂− ) ( 𝜺+ ) 𝑣 2 = 𝜇 ( − ) 𝑓𝑜𝑟 𝑣 ↔ 𝑎 Δ𝑣2 = 𝑣𝑓 − 𝑣𝑡𝑟𝑎𝑛𝑠,𝑎 = √ − √2𝜇 ( ) 𝜇 𝑟𝑓
1+𝑒 𝜇(1 + 𝑒) 𝑟 𝑎 𝑟𝑓 𝑟𝑓 (𝑟𝑖 + 𝑟𝑓 ) 𝑣(𝑡𝑘− ) = 𝑣𝑖 = √ 𝑣(𝑡𝑘+ ) = 𝑣𝑡𝑟𝑎𝑛𝑠,𝑝 = √2𝜇 ( )
𝑟𝑖 𝑟𝑖 (𝑟𝑖 + 𝑟𝑓 )
Plane Change on Final Burn
1 For Transfer Orbit
𝑝 ℎ2 1 (𝜇𝑝)2 1 1+𝑒
ri + rf 𝑟𝑝 𝑟𝑓 − 𝑟𝑖
𝑟𝑎 = 𝑎(1 + 𝑒) = = 𝛿 = 𝜋 − 2 cos −1 ( ) 𝑣𝑝 = = (𝜇𝑝)2 ( ) 𝑟𝑓 𝜇
1−𝑒 𝜇(1 − 𝑒) 𝑒 𝑟𝑝 𝑝 a= 𝑒=1− = 𝑣(𝑡𝑘− ) = 𝑣𝑡𝑟𝑎𝑛𝑠,𝑎 = √2𝜇 ( ) 𝑣(𝑡𝑘+ ) = 𝑣𝑓 = √
2 𝑎 𝑟𝑓 + 𝑟𝑖 𝑟𝑖 (𝑟𝑖 + 𝑟𝑓 ) 𝑟 𝑓
1
ℎ (𝜇𝑝)2 1 −𝜇 𝑣𝑓 sin(Δ𝜃)
𝑟𝑝 = = 𝛿 = 2 sin−1 ( ) 𝑣𝑒𝑥𝑐𝑒𝑠𝑠 = lim v(r) = √ 𝜃𝐹𝑃𝐴 = 𝜋 − sin−1 ( ) Combined Bielliptic Transfer (with plane change)
𝑣𝑝 𝑣𝑝 𝑒 r→∞ 𝑎 Δ𝑣2𝑃𝑙𝑛 𝐶ℎ𝑛𝑔
3
𝜋 𝜇 2𝜇 𝑇 𝑎3 (𝑟𝑖 + 𝑟𝑓 )
𝑟𝑝𝑎𝑟𝑎𝑚𝑒𝑡𝑒𝑟 = 𝑎(1 − 𝑒 2 ) [𝑓 = ] 𝜀=− 𝑣𝑒𝑠𝑐𝑎𝑝𝑒 = √ Δ𝑡 = = 𝜋√ = 𝜋√ Δ𝑣 = √𝑣(𝑡𝑘− )2 + 𝑣(𝑡𝑘+ )2 − 2𝑣(𝑡𝑘− )𝑣(𝑡𝑘+ ) cos(𝛥𝜃)
2 2𝑎 𝑟 2 𝜇 8𝜇
Plane Change 1st Burn
𝑟𝑝 + 𝑟𝑎 𝑝 ℎ2 𝜇
𝑎= = 𝑎= 𝑣𝑐𝑖𝑟𝑐𝑢𝑙𝑎𝑟 =√ Bielliptic Transfer Orbits 𝜇 𝑟∗
2 1 − 𝑒2 𝜇(1 − 𝑒 2) 𝑟𝑐 𝑣(𝑡𝑘− ) = 𝑣𝑖 = √ 𝑣(𝑡𝑘+ ) = 𝑣𝑡1,𝑝 = √2𝜇 ( )
𝑟𝑖 𝑟𝑖 (𝑟𝑖 + 𝑟∗ )
Plane Change 2nd Burn
1 1 ℎ2 𝑎(𝑒 2 − 1) 𝑟𝑖 + 𝑟∗ 𝑟∗ − 𝑟𝑖 𝑟𝑓 + 𝑟∗ 𝑟∗ − 𝑟𝑓
𝑏 = 𝑎(1 − 𝑒 2 )2 = (𝑟𝑝 𝑟𝑎 )2 𝑟= = 𝜇 1+𝑒 𝑎1 = 𝑒1 = , 𝑎2 = 𝑒2 = 𝑟∗ 𝑟𝑓
𝜇(1 + 𝑒 cos 𝑓(𝑡)) 1 + 𝑒 cos(𝑓) 𝑣𝑝 = √ ( ) 2 𝑟∗ + 𝑟𝑖 2 𝑟∗ + 𝑟𝑓 𝑣(𝑡𝑘− ) = 𝑣𝑡1,𝑎 = √2𝜇 ( ) 𝑣(𝑡𝑘+ ) = 𝑣𝑡2,𝑎 = √2𝜇 ( )
𝑎 1−𝑒 𝑟∗(𝑟𝑖 + 𝑟∗) 𝑟∗(𝑟𝑓 + 𝑟∗)
𝑣, 𝑎 → 𝑒
Plane Change 3rd Burn
𝜇 1−𝑒
ℎ2 𝑝 ℎ2 𝑣𝑎 = √ ( ) 𝑟∗ 𝜇
𝑝 = 𝑎(1 − 𝑒 2 ) = 𝑟𝑝 = 𝑎(1 − 𝑒) = = 𝑎 1+𝑒 } Δ𝑣1 = 𝑣𝑡1,𝑝 − 𝑣𝑖 = √2𝜇 ( ) −√ 𝑟∗ 𝜇
𝜇 1+𝑒 𝜇(1 + 𝑒) 𝑟𝑖 (𝑟𝑖 + 𝑟∗ ) 𝑟𝑖 𝑣(𝑡𝑘− ) = 𝑣𝑡2,𝑝 = √2𝜇 ( ) 𝑣(𝑡𝑘+ ) = 𝑣𝑓 = √
𝑟𝑓 (𝑟𝑓 + 𝑟∗ ) 𝑟𝑓

𝜇 𝜇 Angular 𝑟𝑓 𝑟𝑖
𝑀(𝑡) = 𝑛𝑡 = √ ∙𝑡 𝑀(𝑡) = √ ∙ 𝑡 = 𝑒 ∙ sinh(𝐻) − 𝐻 Δ𝑣2 = 𝑣𝑡2,𝑎 − 𝑣𝑡1,𝑎 = √2𝜇 ( ) − √2𝜇 ( ) Pure Inclination Change
𝑎3 −𝑎3 Momentum 𝑟∗(𝑟𝑓 + 𝑟∗) 𝑟∗ (𝑟𝑖 + 𝑟∗ )
𝜃
𝜇 𝑟∗ Δ𝑣 = 2𝑣 sin ( ) → 𝐹𝑜𝑟 𝑐𝑖𝑟𝑐𝑢𝑙𝑎𝑟 𝑜𝑟𝑏𝑖𝑡
𝐸(𝑡) 1−𝑒 𝑓(𝑡) 𝐻(𝑡) 𝑒−1 𝑓(𝑡) 2
tan ( )=√ tan ( ) tanh ( )=√ tan ( ) ℎ⃗ = 𝑟 × 𝑣 Δ𝑣3 = 𝑣𝑓 − 𝑣𝑡2,𝑝 = √ − √2𝜇 ( )
π 𝜃
2 1+𝑒 2 2 𝑒+1 2 𝑟𝑓 𝑟𝑓 (𝑟𝑓 + 𝑟∗ )
Thrust direction = + → 𝑖𝑓 𝜃 = 𝛥𝑖
2 2
Δ𝑖
𝑓(𝑡) 1+𝑒 𝐸(𝑡) 𝑓(𝑡) 𝑒+1 𝐻(𝑡) 1 𝑎13 𝑎23 2 sin ( ) √1 − 𝑒 2 cos(𝜔 + 𝑓) 𝑛𝑎
tan ( )=√ tan ( ) tan ( )=√ tanh ( ) ℎ = [𝜇𝑎(1 − 𝑒 2 )]2 (𝑒𝑙𝑙𝑖𝑝𝑠𝑒) Δ𝑡 = 𝜋√ + 𝜋√ → 𝐿𝑜𝑛𝑔𝑒𝑠𝑡 𝑇𝑖𝑚𝑒, 𝐿𝑜𝑤𝑒𝑠𝑡 𝐸𝑛𝑒𝑟𝑔𝑦 Δ𝑣 = 2 → 𝐹𝑜𝑟 𝑔𝑒𝑛𝑒𝑟𝑖𝑐 𝑖𝑛𝑙𝑖𝑛𝑎𝑡𝑖𝑜𝑛
2 1−𝑒 2 2 𝑒−1 2 𝜇 𝜇 1 + 𝑒 cos 𝑓
1 Hohmann Rendezvous Maneuver Oberth Effect
Parabolic (𝒆 = 𝟏) Kepler’s 3rd Law ℎ = 𝑟𝑝 𝑣𝑝 = (𝜇𝑝)2 𝜃0 = 𝑅𝑒𝑙𝑎𝑡𝑖𝑣𝑒 𝑃ℎ𝑎𝑠𝑒 𝐴𝑛𝑔𝑙𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑣𝑒ℎ𝑖𝑐𝑙𝑒𝑠 𝑎𝑡 Δ𝑣1 Most efficient to burn fuel at periapsis – Does NOT hold for inclination change
1
𝜇 2𝜋𝑎𝑏 𝑎3 𝑇𝑡𝑟𝑎𝑛𝑠 3
𝑎𝑡𝑟𝑎𝑛𝑠 2 1 2 2
𝜀=− , 𝑣𝑒𝑥𝑐𝑒𝑠𝑠 = 0 , 𝛿 = 180° 𝑇= = 2𝜋√( ) ℎ2 = 𝜇(𝑟 + 𝑟 ∙ 𝑒) 𝜃0 = 𝜋 − 2𝜋 ( ) = 𝜋 − 2𝜋 ( 3 ) Δ𝐾𝐸 = Δ𝑣 + 𝑣 ∙ Δ𝑣 𝐾𝐸𝑝𝑟𝑜𝑝𝑒𝑙𝑙𝑎𝑛𝑡 = (𝑣𝑠𝑝𝑎𝑐𝑒 𝑐𝑟𝑎𝑓𝑡 − Δ𝑣𝑒𝑥ℎ𝑎𝑢𝑠𝑡 )
2𝑎 ℎ 𝜇 𝑇𝑡𝑔𝑡 𝑟𝑡𝑔𝑡 2
3
ℎ2 𝑝 𝑑𝐴 1 2 𝑑𝑓 ℎ 1 𝑟 3
𝑎𝑡𝑟𝑎𝑛𝑠 (𝑟𝑖 + 𝑟𝑓 ) 𝜇
𝑟𝑝 = = 𝑎(1 − 𝑒) = = 𝑟 = = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑒= (𝑣 × ℎ⃗ − 𝜇 ) 𝑇𝑟𝑎𝑛𝑠𝑖𝑡 𝑡𝑖𝑚𝑒 = Δ𝑡𝑖𝑛𝑡 = 𝜋√ = 𝜋√ 𝑃𝐸𝑝𝑟𝑜𝑝𝑒𝑙𝑙𝑎𝑛𝑡 = −√
2𝜇 2 𝑑𝑡 2 𝑑𝑡 2 𝜇 ‖𝑟‖ 𝜇 8𝜇 𝑟
Minimum ∆v to Change Inclination
Given: a, e, Ω, ω, i 𝐶𝑜𝑚𝑝𝑢𝑡𝑒 𝑟𝐴 𝑎𝑛𝑑 𝑟𝐵 : 𝐶𝑜𝑚𝑝𝑢𝑡𝑒 𝑚𝑖𝑛𝑖𝑚𝑢𝑚 Δ𝑣:
𝐹𝑖𝑛𝑑 𝑟𝑝 𝑎𝑛𝑑 𝑟𝑎 : ℎ2 1 𝐼𝑓 𝑣⊥𝐵 < 𝑣⊥𝐴 :
𝑟𝑎 = 𝑎(1 + 𝑒) 𝑟𝑝 = 𝑎(1 − 𝑒) 𝑟𝐴 =
𝜇 1 + 𝑒 cos(𝑓𝐴 ) 𝛥𝑖
𝐹𝑖𝑛𝑑 𝑛𝑜𝑑𝑒 𝑓𝑢𝑟𝑡ℎ𝑒𝑠𝑡 𝑓𝑟𝑜𝑚 𝑝𝑒𝑟𝑖𝑔𝑒𝑒: Δ𝑣𝑚𝑖𝑛 = 2𝑣⊥𝐵 sin ( )
ℎ2 1 2 𝑣(𝑡𝑘+ ) sin(Δ𝜃)
𝑁𝑜𝑑𝑒 𝐴: 𝑓𝐴 (𝑡) = 2𝜋 − 𝜔 𝑟𝐵 = 𝜃𝐹𝑃𝐴 = 𝜋 − sin−1 ( )
𝜇 1 + 𝑒 cos(𝑓𝐵 ) 𝐼𝑓 𝑣⊥𝐴 < 𝑣⊥𝐵 : Δ𝑣𝑝𝑙𝑎𝑛𝑒 𝑐ℎ𝑎𝑛𝑔𝑒
𝑁𝑜𝑑𝑒 𝐵: 𝑓𝐵 (𝑡) = 𝜋 − 𝜔
𝐶𝑜𝑚𝑝𝑢𝑡𝑒 𝑝𝑒𝑟𝑝𝑒𝑛𝑑𝑖𝑐𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑖𝑒𝑠: 𝛥𝑖
𝑟𝑎 𝑟𝑝 Δ𝑣𝑚𝑖𝑛 = 2𝑣⊥𝐴 sin ( )
𝐹𝑖𝑛𝑑 ℎ: √2𝜇 √ ℎ ℎ 2
(𝑟𝑎 + 𝑟𝑝 ) 𝑣⊥𝐴 = 𝑣⊥𝐵 =
𝑟𝐴 𝑟𝐵
Algorithms
Given 𝒓𝒑 𝒂𝒏𝒅 𝑻 Orbital Elements 𝐺𝑖𝑣𝑒𝑛 𝑟1𝑎𝑛𝑑 𝑣1: Propagate Orbit in Time 𝐺𝑖𝑣𝑒𝑛 𝑟1, 𝑣1, t, 𝑎𝑛𝑑 𝑒𝑙𝑒𝑚𝑒𝑛𝑡𝑠:
1 2 2 2 [ELLIPTICAL] [HYPERBOLIC]
1
2 3 𝑟1 = √𝑟1𝑥 + 𝑟1𝑦 + 𝑟1𝑧 𝑜𝑟 𝑟1 = √𝑟1 ∙ 𝑟1
𝒂 𝑎3 2 𝑇 1−𝑒 𝑓 𝑒−1 𝑓(𝑡)
𝑇 = 2𝜋 ( ) → 𝑎 = [𝜇( ) ] 2 2 2 𝐸(𝑡) = 2 tan−1 (√ tan ( )) 𝐻(𝑡) = 2 tanh−1 (√ tan ( ))
𝜇 2𝜋 𝑣1=√𝑣1𝑥 + 𝑣1 𝑦 + 𝑣1𝑧 𝑜𝑟 𝑣1 = √𝑣1 ∙ 𝑣1 1+𝑒 2 𝑒+1 2

𝑟𝑝 + 𝑟𝑎 𝑣1 ∙ 𝑟1
𝒓𝒂 𝑎= → 𝑟𝑎 = 2𝑎 − 𝑟𝑝 𝑣𝑟 = 𝑀(𝑡) = 𝐸(𝑡) − 𝑒 sin(𝐸(𝑡)) 𝑀(𝑡) = 𝑒 sinh(𝐻(𝑡)) − 𝐻(𝑡)
𝑟
2 𝑣𝑟 > 0 𝑎𝑤𝑎𝑦 𝑓𝑟𝑜𝑚 𝑝𝑒𝑟𝑖 𝑣𝑟 < 0 𝑡𝑜𝑤𝑎𝑟𝑑𝑠 𝑝𝑒𝑟𝑖
⃗ℎ = 𝑟1 × 𝑣1 𝐸(𝑡) − 𝑒 sin(𝐸(𝑡)) 𝑒 sinh(𝐻(𝑡)) − 𝐻(𝑡)
𝒓𝒑 𝒂𝒏𝒅 𝒗𝒑 𝑡1 = 𝑡1 =
2𝜋 𝜇
ℎ = √ℎ⃗𝑥2 + ℎ⃗𝑦2 + ℎ⃗𝑧2 𝑜𝑟 ℎ = √ℎ⃗ ∙ ℎ⃗ 𝑇
√
−𝑎3
Δ𝑡 = 𝑡1 + 𝑡 𝑤ℎ𝑒𝑟𝑒 t = 𝑐𝑜𝑎𝑠𝑡 𝑡𝑖𝑚𝑒
ℎ ℎ⃗𝑧 𝜋 Δ𝑡
𝒉 𝑟𝑝 = → ℎ = 𝑟𝑝 𝑣𝑝 𝒊 = cos −1 ( ) → 𝑖𝑓 𝑖 > 𝑂𝑟𝑏𝑖𝑡 𝑟𝑒𝑡𝑟𝑜𝑔𝑟𝑎𝑑𝑒 𝑛𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 = t 2 = 𝑡1 + 𝑡 𝑤ℎ𝑒𝑟𝑒 t = 𝑐𝑜𝑎𝑠𝑡 𝑡𝑖𝑚𝑒 Earth-Centered Inertial
𝑣𝑝 ℎ 2 𝑇
𝑡2 = 𝑇 ∙ (𝑛𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 − 𝑟𝑜𝑢𝑛𝑑(𝑛𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 ))
⃗ = [0 0 1] × ℎ⃗
𝑁 𝜇
ℎ2 𝑀(𝑡2) = √ 3 ∙ 𝑡2 𝜇
𝒑 𝑝= 𝑎 𝑀(𝑡2 ) = √ ∙𝑡 ̂ → 𝑰̂ = 𝑭𝑷𝑶𝑨
𝒙
𝜇 ⃗ 𝑥2 + 𝑁
𝑁 = √𝑁 ⃗ 𝑦2 + 𝑁
⃗ 𝑧2 𝑜𝑟 𝑁 = √𝑁
⃗ ∙𝑁
⃗
[𝑀𝑈𝑆𝑇 𝑏𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 0 𝑎𝑛𝑑 2𝜋] −𝑎3 2
̂ → 𝑱̂ = 𝑹𝑯𝑹
𝒚
𝑝 𝑝 ⃗𝑥 𝐸1 = 𝑀 𝐻1 = 𝑀
𝑁 ̂ = 𝑵. 𝑷𝒐𝒍𝒆
𝒛̂ → 𝑲
𝒆 𝑟𝑝 = → 𝑒= −1 ⃗ 𝑦 < 0 , Ω = 2π − Ω
𝛀 = cos −1 ( ) → 𝑖𝑓 𝑁 𝑀 − 𝐸𝑘 + 𝑒 sin(𝐸𝑘 ) (𝑀 − 𝑒 ∙ sinh(𝐻𝑘 ) + 𝐻𝑘 )
1+𝑒 𝑟𝑝 𝑁 𝐸𝑘+1 = 𝐸𝑘 − ( ) 𝐻𝑘+1 = 𝐻𝑘 +
𝑒 cos(𝐸𝑘 ) − 1 𝑒 ∙ cosh(𝐾𝑘 ) − 1
1 𝜇
𝑝 𝑒= ((𝑣 2 − ) ∙ 𝑟1 − 𝑟 ∙ 𝑣𝑟 ∙ 𝑣1) 𝑅𝑒𝑝𝑒𝑎𝑡 𝑤ℎ𝑖𝑙𝑒:
𝜇 𝑟 𝑅𝑒𝑝𝑒𝑎𝑡 𝑤ℎ𝑖𝑙𝑒:
𝒂 𝑝 = 𝑎(1 − 𝑒 2 ) → 𝑎 = 𝑀 − 𝑒 ∙ sinh(𝐻𝑘 ) + 𝐻𝑘 Perifocal Coordinates
(1 − 𝑒 2) |𝑀 − 𝐸𝑘 + 𝑒 sin (𝐸𝑘 )| > 𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝑒𝑟𝑟𝑜𝑟 | | > 𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝑒𝑟𝑟𝑜𝑟
𝒆 = √𝑒𝑥2 + 𝑒𝑦2 + 𝑒𝑧2 𝑜𝑟 𝑒 = √𝑒 ∙ 𝑒 𝑒 cosh(𝐻𝑘 ) − 1

𝑁⃗ ∙𝑒 1+𝑒 𝐸𝑘 𝑒+1 𝐻𝑘
Elliptical (0 < e < 1) Hyperbolic (e > 1) 𝝎 = cos −1 ( ) → 𝑖𝑓 𝑒𝑧 < 0 , 𝜔 = 2𝜋 − 𝜔 𝑓(𝑡2 ) = 2 tan−1 (√ tan ( )) 𝑓(𝑡2 ) = 2 tan−1 (√ tanh ( )) ⃗
𝒆
𝑁∙𝑒 1−𝑒 2 𝑒−1 2 ̂=
̂→𝑷
𝒙
𝒆
1 𝑝 1 𝑝 𝑒 ∙ 𝑟1 𝑎(1 − 𝑒 2) 𝑎(𝑒 2 − 1) ̂ = 𝑹𝑯𝑹
̂→𝑸
𝒚
𝒇(𝒕) 𝑓(𝑡) = cos −1 (( ) [ − 1]) 𝑓(𝑡) = cos −1 (( ) [ − 1]) 𝒇 = cos −1 ( ) → 𝑖𝑓 𝑣𝑟 < 0 , 𝑓 = 2𝜋 − 𝑓 𝑟2 = 𝑟2 =
𝑒 𝑟 𝑒 𝑟 𝑒∙𝑟 1 + 𝑒 cos(𝑓(𝑡2 )) 1 + 𝑒 cos(𝑓)
⃗
𝒉
̂=
𝒛̂ → 𝑾
1−𝑒 𝑓 𝑒−1 𝑓 ℎ2 1 ℎ2 1 2 1 2 1 𝒉
𝑬(𝒕) 𝐸(𝑡) = 2 tan−1 (√ tan ( )) 𝐻(𝑡) = 2 tanh−1 (√ tan ( )) 𝑟𝑝 = ( ) 𝑎𝑛𝑑 𝑟𝑎 = ( ) 𝑣2 = √𝜇 ( − ) 𝑣2 = √𝜇 ( − )
1+𝑒 2 𝑒+1 2 𝜇 1+𝑒 𝜇 1−𝑒 𝑟2 𝑎 𝑟2 𝑎

−1 𝑟2 (cos(Ω) cos(𝜔 + 𝑓(𝑡2 )) − sin(𝛺) sin(𝜔 + 𝑓(𝑡2 )) cos(𝑖)) 𝑟2 cos(𝑓(𝑡2 ))

𝑟𝑝 + 𝑟𝑎 2 𝑣2
𝑴(𝒕) 𝑀(𝑡) = 𝐸(𝑡) − 𝑒 ∙ sin(𝐸(𝑡)) 𝑀(𝑡) = 𝑒 sinh(𝐻(𝑡)) − 𝐻(𝑡) 𝒂= =( − ) 𝑟2𝐸𝐶𝐼 = [𝑟2 (sin(𝛺) cos(𝜔 + 𝑓(𝑡2 )) + cos(𝛺) sin(𝜔 + 𝑓(𝑡2 )) cos(𝑖)) ] 𝑟2𝑃𝑄𝑊 = [ 𝑟2 sin(𝑓(𝑡2 )) ]
2 𝑟 𝜇
𝑟2 (sin(𝜔 + 𝑓(𝑡2 )) sin(𝑖)) 0

𝜇 𝜇
(− ) (cos(Ω) (sin(𝜔 + 𝑓(𝑡2 )) + 𝑒 sin(𝜔)) + sin(Ω) (cos(𝜔 + 𝑓(𝑡2 )) + e cos(𝜔)) cos(𝑖)) −√ sin(𝑓(𝑡2 ))
𝜇 𝑀(𝑡) 𝜇 𝑀(𝑡) 2𝜋 3 ℎ 𝑝
𝑀(𝑡) = √ 3 ∙ 𝑡 → 𝑡= 𝑀(𝑡) = √ 3 𝑡 → 𝑡= 𝑇 = ( ) 𝑎2 𝜇
𝒕 𝑎 𝜇 −𝑎 𝜇 √𝜇 𝑣2𝐸𝐶𝐼 = (− ) (sin(Ω) (sin(𝜔 + 𝑓(𝑡2 )) + 𝑒 sin(𝜔)) − cos(Ω) (cos(𝜔 + 𝑓(𝑡2 )) + 𝑒 cos(𝜔)) cos(𝑖)) 𝑣2𝑃𝑄𝑊 =
√ √ ℎ 𝜇
𝑎3 −𝑎3 𝜇 √ (𝑒 + cos(𝑓(𝑡2 )))
( ) (cos(𝜔 + 𝑓(𝑡2 )) + 𝑒 cos(𝜔)) sin(𝑖) 𝑝
[ ℎ ]
[ 0 ]

Lambert’s Problem: Interception

Given 𝑟𝑖 (𝑡1 ) , 𝑣𝑖 (𝑡1 ) Propagate target Lambert’s Problem: Parameters Set initial value for a: Iterate g(a): Check: Velocity vectors:
and 𝑟𝑡 (𝑡1) , 𝑣𝑡 (𝑡1 ) orbit to find 𝜇 𝛼 𝜇 𝛽
𝑠 𝐼𝑓 𝑔(𝑎) > 𝑇𝑂𝐹 → 𝑎𝑚𝑖𝑛 = 𝑎 𝐴=√ cot ( ) , 𝐵 = √ cot ( )
and TOF: location of 𝑐 = |𝑟𝑡𝑔𝑡 (𝑡2 ) − 𝑟𝑖𝑛𝑡 (𝑡1 )| 𝑎𝑚𝑖𝑛 = 𝑎3 4𝑎 2 4𝑎 2
2 𝑔(𝑎) = √ (𝛼 − 𝛽 − (sin(𝛼) − sin(𝛽)))
Determine Orbital interception point 𝜇 𝑟̂𝑖 (𝑡1) 𝑟̂𝑡 (𝑡2 ) 𝑟̂𝑡 (𝑡2 ) − 𝑟̂𝑖 (𝑡1)
𝑐 + 𝑟𝑖𝑛𝑡 (𝑡1) + 𝑟𝑡𝑔𝑡 (𝑡2 ) 𝐼𝑓 𝑔(𝑎) < 𝑇𝑂𝐹 → 𝑎𝑚𝑎𝑥 = 𝑎
Elements of by iterating 𝑠= 𝑢̂𝑖 = , 𝑢̂𝑡 = , 𝑢̂𝑐 =
2 𝑎𝑚𝑎𝑥 = 𝑘𝑠 → ( 𝑤ℎ𝑒𝑟𝑒 𝑘 ≥ 2 +) 𝑟𝑖 (𝑡1) 𝑟𝑡 (𝑡2 ) 𝑐
𝑠 𝑠−𝑐
interceptor and Newton’s Check minimum TOF! 𝛼 = 2 sin −1
(√ ) , 𝛽 = 2 sin−1 (√ ) Recalculate “a” with new 𝑣𝑡𝑟𝑎𝑛𝑠 (𝑡1 ) = (𝐵 + 𝐴) ̂𝑢𝑐 + (𝐵 − 𝐴) 𝑢̂𝑖
𝑎𝑚𝑎𝑥 + 𝑎𝑚𝑖𝑛 2𝑎 2𝑎
target orbits. method. 3 𝑎= min/max value and repeat
√2 𝑠 3 𝑠−𝑐 2 2 𝑣𝑡𝑟𝑎𝑛𝑠 (𝑡2 ) = (𝐵 + 𝐴) ̂𝑢𝑐 − (𝐵 − 𝐴) 𝑢̂𝑡
(see procedure (see procedure 𝑇𝑂𝐹 ≥ Δ𝑡𝑝 = √ (1 − ( ) ) previous step until
3 𝜇 𝑠 Δ𝑣𝑖𝑛𝑡 = 𝑣𝑡𝑟𝑎𝑛𝑠 (𝑡1) − 𝑣𝑖 (𝑡1)
above) above) desired tolerance is met.
Lambert’s Problem: Targeting
Given: 𝑟1 , 𝑟2 , 𝑎𝑛𝑔𝑙𝑒, 𝑎𝑛𝑑 𝑇𝑂𝐹 Given: 𝑟1 , 𝑟2 , 𝑎𝑛𝑑 𝑣 (𝑚𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒) 𝑎𝑡 𝑜𝑛𝑒 𝑝𝑜𝑖𝑛𝑡,
Find position magnitude at that point and solve for (a)
→ 𝑐 = √𝑟12 + 𝑟22 − 2𝑟1 𝑟2 cos(Δ𝑓)
using vis-viva:
−1
Solve for semi-perimeter (s), and then find (a) using bisection 2 𝑣2
method above. 𝑎=( − ) → 𝛼 , 𝛽 → 𝑔(𝑎) = Δ𝑡
𝑟 𝜇