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ESPACE: Advanced Orbit Mechanics, Exercise 1 (SS 2016)

Homogeneous Solution of Hill Equations
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Written Report by: Zulfikar Adlan Nadzir
Exercise Description
The first and only exercise of “Advanced Orbit Mechanics” module concerns about Hill
Equations and its usage for approximation of disturbed near-circular orbit of satellites. The
methodology of computations and results are discussed.
Computations’ Methodology and Results
Given numerically integrated orbit vector of TerraSAR and TanDEM-X satellite in inertial
reference frame. These satellite is a special pair of satellites, with close formation flight
(separated by few hundred meters) and orbit called “helix orbit”. These two satellite orbiting
in altitude of 515 km (classified as LEO orbit) with near-circular orbit and TerraSAR is used
as a reference of this “close formation distance computation”. Tasks to be covered in this report
are visualization of the orbit difference and relative motion of TanDEM-X w.r.t TerraSAR, the
initial condition computation of relative position and comparison between Hills equation
solution and the perturbed relative orbit. These tasks is explained in a graph below.

Orbit-Fixed
Reference System Relative Position
Hills solution
Orbit Difference Computation
Visualization Definition Visualization
Input: Input:
Numerically Input: Definde Determination of
Numericallly
Integrated Orbits Reference System TerraSAR's mean
Integrated Orbits
Definition of The defined motion, continued
Visualization of by utilization of
two orbits, along reference system reference system
related to then used to LSE for initial
with the distance , condition
velocity TerraSAR which define the relative
realized by position of computation and
difference vector comparison of
of two satellites defining 3-axis TanDEM-X w.r.t
coordinate system TerraSAR. perturbed and
and its radial unperturbed (Hills
velocity. (along and cross results: Plots of
track, radial) with Equation solution)
results: plot of Position and in terms of
TerraSAR Velocity
orbit, position, position of every position and 3D
velocity difference in position are then
epoch as a orbit-fixed frame
difference and reference. produced.
radial velocity. and motion of
results: Plot of TanDEM-X results: Mean
TerraSAR's around TerraSAR. Motion, initial
Velocity vector. condition and
comparison of
both approach.
 Technische Universität München
ESPACE Advanced Orbit Mechanics - SS 2016

Process Explanation
- Orbit Difference Visualization
The numerically integrated orbit, provided by Prof. Hugentobler were used for the process.
The plot of both satellites’ orbit is shown below.

Figure 1. Orbit of TerraSAR and TanDEM-X

From the graph above we can see that the orbit of both satellite seems to be intertwined,
and if we investigate the graph further by zooming-in to the Figure.1 we can see that orbit
of these two satellites are almost identical, with small distance between them in every
revolution. Nonetheless, we can’t see the difference clearly if we saw from the original
viewpoint. Thus we need another plot, specifically the plot of components of position
difference vector between two satellites, which shown below.

Figure.2 Components of Position Difference between TerraSAR and TanDEM-X

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 Technische Universität München
ESPACE Advanced Orbit Mechanics - SS 2016

As we can see above, the difference of every component seems to make a pattern/cycle and
having 102 meters magnitude. This plot is helping us to know more about the difference
between two orbits, but it’s not enough. We need another plot, namely the plot of the
distance, the absolute velocity and the radial velocity of the velocity difference between
two satellites (result of dot product of velocity difference vector and unit vector of radius
direction), shown below in Figure.3.

Figure.3 Distance, Velocity difference and Radial Velocity between TerraSAR and TanDEM-X

As we can see, the distance between two satellites is ranged between 300-500 meters while
the velocity difference between two of them is not significant, having magnitude of 10 -1
meters. The radial velocity of the TanDEM-X is not much different with the velocity
difference, having similar magnitude with slightly having more cyclic behavior.

- Orbit-Fixed Reference System Definition

To know the relative motion of TanDEM-X w.r.t TerraSAR, we have to define new
reference system based on TerraSAR motion, which utilize 3 axis (x, y, z) but unlike the
traditional Cartesian XYZ axis, in this occasion x means along track direction (points
tangentially of the circular orbit) of the TerraSAR motion, while z axis means radial
direction (points radially outwards from the origin through the satellite position) and y axis
is perpendicular to both other axis; as shown in figure below.

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 Technische Universität München
ESPACE Advanced Orbit Mechanics - SS 2016

Since the origin of this reference frame is the satellite position in specified epoch which
always changing over epoch, thus we need to compute the direction of xyz axis for every
epoch. Velocity vector of TerraSAR in this reference frame is shown below, with along-
track direction having 103 meters magnitude while the other two (z, y) has 10 meters and
10-13 meters magnitude respectively. It means that TerraSAR is slightly oscillating in y-z
direction (going up-down and left-right w.r.t the origin) while moving in x direction.

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 Technische Universität München
ESPACE Advanced Orbit Mechanics - SS 2016

- Relative Position Visualization

The defined reference frame of TerraSAR is then being used to compute the position and
velocity difference between TanDEM-X and TerraSAR. The result of the computation is
shown below, where the alongtrack position difference is having twice of the magnitude of
radial and crosstrack position difference. As for the velocity difference, three components
has similar magnitude of 10-1 meter/second with almost similar cyclic behavior of x and z
axis (slightly shifted).

Unfortunately, graph above is not enough to show the clear picture of the movement of
TanDEM-X relative to TerraSAR. Thus, a 3D plot of TanDEM-X movement relative to
TerraSAR is produced. From the graph we can see that the TanDEM-X is moving around
TerraSAR (assuming that the origin (0, 0, 0) is the position of TerraSAR over time).

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 Technische Universität München
ESPACE Advanced Orbit Mechanics - SS 2016

- Hills solution Computation

The numerical integration orbit we used on steps before are perturbed, therefore we need
to use Hills Equation to compute the unperturbed motion of TanDEM-X around TerraSAR.
Some assumption and simplification are being made in order to fulfill the condition of Hills
Equation. First thing to do is computing mean motion of TerraSAR, by utilizing Kepler’s
third law. The result is 0.0011 m/s.

Afterwards, we have to compute the unperturbed initial condition of the relative motion, as
Hills equation need those values. We are utilizing Least Square method to compute the
initial condition, since LSE is the best method to optimally estimate the initial parameters
(circled red in a graph below) given a time series of measurements.

A Matrix equation have to be built in order to compute the estimation, which consist of 2
system of equations (x and z coupled into 1 system, while y in the other system).
Fundamentally, we are building A matrix, which then used along with the actual data
(observation) shown in inverse computation equation and elements of matrix A below.

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 Technische Universität München
ESPACE Advanced Orbit Mechanics - SS 2016

Using the 1st version of the initial value computation (with time vector spans from 20000s
to 90000s), the result is shown in a table below.

X0 (m) Y0 (m) Z0 (m) ẋ0 (m/s) ẏ0 (m/s) ẑ0 (m/s)

390.115 88.588 -176.876 0.390 0.091 0.207

Results above indicating the initial condition at t0=0s, but due to the usage of time vector
20000-90000, we have to use that time span for the forward computation as well. The
equation of this forward computations is shown below, along with the 3D comparison of
perturbed and unperturbed orbit.

From graph above we can see that the unperturbed orbit (indicated as simulation) has better
and cylindrical shape than the original, perturbed one. Nevertheless, from this plot we can’t
see the difference of its component so plots of component difference and 3D visualization
of the difference is produced.

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 Technische Universität München
ESPACE Advanced Orbit Mechanics - SS 2016

The graph of 3D difference above shows that TanDEM-X is moving around the TerraSAR
(assuming the origin (0, 0, 0) is the position of TerraSAR over time) in magnitude of 10
meters for along track direction, and 1 meters for other two direction. From both graph we
can see that the TanDEM-X moves towards the TerraSAR, until it reach its peak (closest
distance) in around 50000s – 60000s then it start to move away in a similar fashion with its
“move-closer” maneuver.

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 Technische Universität München
ESPACE Advanced Orbit Mechanics - SS 2016

%--Advanced Orbit Mechanics Laboratory

%--Hill's Equation Code for TANDEM-X Satellites
%--Made by Zulfikar Adlan Nadzir, ESPACE TUM 2015
%--Last Update 22.07.2016

%--Orbit Data Reading

te=dlmread('tandemx.eph'); %TanDEM-X
ta=dlmread('terrasar.eph'); %TerraSAR

%--Position and Velocity Difference Computation and Plot

%-Computation Process
y=transpose(linspace(0,108000,10801));
dp=sqrt((te(:,1)).^2+(te(:,2)).^2+(te(:,3)).^2);
dp1=sqrt((te(:,1)-ta(:,1)).^2+(te(:,2)-ta(:,2)).^2+(te(:,3)-ta(:,3)).^2);
dpr=[[te(:,1)-ta(:,1)] [te(:,2)-ta(:,2)] [te(:,3)-ta(:,3)]];
dvr=[[te(:,4)-ta(:,4)] [te(:,5)-ta(:,5)] [te(:,6)-ta(:,6)]];
dv=sqrt(((te(:,4)-ta(:,4)).^2+(te(:,5)-ta(:,5)).^2+(te(:,6)-ta(:,6)).^2));
m_dist=0;
j=0;
for i=1:length (dpr)
uv_dr(i,:)=ta(i,1:3)./dp(i);

%-Reference System Definition

uv_z(i,:)=[ta(i,1) ta(i,2)
ta(i,3)]./sqrt((ta(i,1)).^2+(ta(i,2)).^2+(ta(i,3)).^2);
vr(i)=dot([ta(i,4) ta(i,5) ta(i,6)],uv_z(i,:),2);
uv_v(i,:)=[ta(i,4) ta(i,5)
ta(i,6)]./sqrt((ta(i,4)).^2+(ta(i,5)).^2+(ta(i,6)).^2);
uv_y(i,:)=cross(uv_z(i,:),uv_v(i,:));
vy(i)=dot([ta(i,4) ta(i,5) ta(i,6)],uv_y(i,:),2);
uv_x(i,:)=cross(uv_y(i,:),uv_z(i,:));
vx(i)=dot([ta(i,4) ta(i,5) ta(i,6)],uv_x(i,:),2);

%-Position and Velocity Difference Computation

dpra(i)=dot([dpr(i,1) dpr(i,2) dpr(i,3)],uv_z(i,:),2);
dpcr(i)=dot([dpr(i,1) dpr(i,2) dpr(i,3)],uv_y(i,:),2);
dpal(i)=dot([dpr(i,1) dpr(i,2) dpr(i,3)],uv_x(i,:),2);
dvra(i)=dot([dvr(i,1) dvr(i,2) dvr(i,3)],uv_z(i,:),2);
dvcr(i)=dot([dvr(i,1) dvr(i,2) dvr(i,3)],uv_y(i,:),2);
dval(i)=dot([dvr(i,1) dvr(i,2) dvr(i,3)],uv_x(i,:),2);

%-Mean Motion Computation

m_dist=m_dist+sqrt((ta(i,1)).^2+(ta(i,2)).^2+(ta(i,3)).^2);
end
v_dr=dot(dvr,uv_dr,2);

%-Plotting Process
figure;
plot3 (te(:,1),te(:,2),te(:,3));hold on;title ('Orbit of TerraSAR and
TanDEM-X');xlabel ('X Axis');ylabel ('Y Axis');zlabel ('Z Axis');grid on;
plot3 (ta(:,1),ta(:,2),ta(:,3));legend('TanDEM-X','TerraSAR');hold off;
figure;
subplot (3,1,1);
plot (dpr(:,1)); title ('X-axis Difference');xlabel ('time (s)'); ylabel
('difference (m)');
subplot (3,1,2);
plot (dpr(:,2)); title ('Y-axis Difference');xlabel ('time (s)'); ylabel
('difference (m)');
subplot (3,1,3);

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 Technische Universität München
ESPACE Advanced Orbit Mechanics - SS 2016

plot (dpr(:,3)); title ('Z-axis Difference');xlabel ('time (s)'); ylabel

('difference (m)');
figure;
subplot (3,1,1);
plot(y,dp1); title ('Position Difference of TerraSAR and TanDEM-X');xlabel
('Time (s)');ylabel ('Position Difference(m)');
subplot (3,1,2);
plot(y,dv); title ('Absolute Velocity Difference of TerraSAR and TanDEM-
X');xlabel ('Time (s)');ylabel ('Velocity Difference (m/s)');
subplot (3,1,3);
plot (y,v_dr); title ('Radial Velocity of TerraSAR and TanDEM-X');xlabel
('time (s)'); ylabel ('Radial Velocity (m/s)');

%-Result Plotting
figure;
subplot (3,1,1);
plot (y,vr); title ('Velocity in Radial Direction of TerraSAR-fixed
frame');xlabel ('time (s)'); ylabel ('velocity (m/s)');
subplot (3,1,2);
plot (y,vy); title ('Velocity in Crosstrack Direction of TerraSAR-fixed
frame');xlabel ('time (s)'); ylabel ('velocity (m/s)');
subplot (3,1,3);
plot (y,vx); title ('Velocity in Along Direction of TerraSAR-fixed
frame');xlabel ('time (s)'); ylabel ('velocity (m/s)');

%-Result Plotting
figure;
subplot (2,1,1);
plot (y,dpra);hold on; plot (y,dpcr); plot (y,dpal);legend('radial
position','crosstrack position','alongtrack position');hold off;
title ('3 Components of Position Difference in TerraSAR-fixed
frame');xlabel ('time (s)'); ylabel ('position(m)');
subplot (2,1,2);
plot (y,dvra);hold on; plot (y,dvcr); plot (y,dval);legend('TanDEM-
X','TerraSAR');legend('radial velocity','crosstrack velocity','alongtrack
velocity');hold off;
title ('3 Components of Velocity Difference in TerraSAR-fixed
frame');xlabel ('time (s)'); ylabel ('velocity (m/s)');
figure
plot3(dpal,dpcr,dpra);title ('How TanDEM-X moves, as seen from
TerraSAR');xlabel ('AlongTrack');ylabel ('CrossTrack');zlabel
('Radial');grid on;axis equal;

%--Mean Motion Computation

r0=m_dist/i;
GM=398.6005*10^12;
m_mot=sqrt(GM/(r0^3));

%--Initial Condition Determination using LSE

j=0;
yi=y(2001:9001);
for i=1:length(yi)
Axz(i+j,:)=[1 (4/m_mot*sin(m_mot*yi(i)))-3*yi(i)
6*(sin(m_mot*yi(i))-(m_mot*yi(i))) 2/m_mot*(cos(m_mot*yi(i))-1)];
Axz(i+j+1,:)=[0 2/m_mot*(1-cos(m_mot*yi(i))) 4-3*cos(m_mot*yi(i))
1/m_mot*sin(m_mot*yi(i))];
xz(i+j)=dpal(i+2000);
xz(i+j+1)=dpra(i+2000);
Ay(i,:)=[cos(m_mot*yi(i)) 1/m_mot*sin(m_mot*yi(i))];
j=j+1;

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 Technische Universität München
ESPACE Advanced Orbit Mechanics - SS 2016

end
initxz=inv(Axz'*Axz)*Axz'*xz';
inity=inv(Ay'*Ay)*Ay'*dpcr(2001:9001)';

%--Hill Equation's Solution Computation from Obtained Initial Condition

for i=1:length(yi)

dpalh(i)=(2/m_mot*initxz(4)*cos(m_mot*yi(i)))+((4/m_mot*initxz(2)+6*initxz(
3))*sin(m_mot*yi(i)))-((3*initxz(2)+6*m_mot*initxz(3))*(y(i)))+(initxz(1))-
(2/m_mot*initxz(4));
dpcrh(i)=inity(1)*cos(m_mot*yi(i))+inity(2)/m_mot*sin(m_mot*yi(i));
dprah(i)=(-2/m_mot*initxz(2)-
3*initxz(3))*cos(m_mot*yi(i))+initxz(4)/m_mot*sin(m_mot*yi(i))+2/m_mot*init
xz(2)+4*initxz(3);
dvalh(i)=-
2*initxz(4)*sin(m_mot*yi(i))+(4*initxz(2)+6*m_mot*initxz(3))*cos(m_mot*yi(i
))-3*initxz(2)-6*m_mot*initxz(3);
dvcrh(i)=-inity(1)*m_mot*sin(m_mot*y(i))+inity(2)*cos(m_mot*yi(i));
dvrah(i)=(2*initxz(2)-
3*m_mot*initxz(3))*sin(m_mot*yi(i))+initxz(4)*cos(m_mot*yi(i));
end

%plot
figure
plot3(dpal,dpcr,dpra);hold on
plot3(dpalh,dpcrh,dprah);title ('Perturbed and Unperturbed Relative
Orbit');xlabel ('AlongTrack');ylabel ('CrossTrack');zlabel ('Radial');grid
on;legend ('Original','Simulation');

dpalp=-dpalh+dpal(2001:9001);
dpcrp=-dpcrh+dpcr(2001:9001);
dprap=-dprah+dpra(2001:9001);

figure;
subplot (3,1,1);
plot (yi,dpalp); title ('Position Difference of AlongTrack Direction from
Perturbed and Unperturbed Relative Orbit');xlabel ('time (s)'); ylabel
('Position (m)');
subplot (3,1,2);
plot (yi,dpcrp); title ('Position Difference of CrossTrack Direction from
Perturbed and Unperturbed Relative Orbit');xlabel ('time (s)'); ylabel
('Position (m)');
subplot (3,1,3);
plot (yi,dprap); title ('Position Difference of Radial Direction from
Perturbed and Unperturbed Relative Orbit');xlabel ('time (s)'); ylabel
('Position (m)');

figure;
plot3(dpalp,dpcrp,dprap);title ('3D Position Difference of Perturbed and
Unperturbed Relative Orbit');xlabel ('AlongTrack');ylabel
('CrossTrack');zlabel ('Radial');grid on;

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