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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Orbital Mechanics• Lecture #03 – September 8, 2011• ENAE 483/484 project organization• Planetary launch and entry overview• Energy and velocity in orbit• Elliptical orbit parameters• Orbital elements• Coplanar orbital transfers• Noncoplanar transfers• Time in orbit• Interplanetary trajectories• Relative orbital motion (“proximity operations”)
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© 2011 David L. Akin - All rights reservedhttp://spacecraft.ssl.umd.edu
Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Notes
• There will be no live lecture on Tuesday, 9/13 - a lecture video will be posted
• Looking ahead - under current plans, the following lectures will also be video only– Tuesday, 9/20– Thursday, 9/22– Thursday, 9/29
• As always, future plans are subject to change at any time, so keep checking the syllabus at spacecraft.ssl.umd.edu
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Exo-SPHERES Project Team• Systems Integration
– Gabriel Charalambides– Raymond Russell– Terry Van Wormer
• Mission Planning and Analysis– Justin Brannan– Josh Fogel– Samuel Lewis
• Loads, Structures, and Mechanisms– Andrei Arevalo– Daniel Skeberdis– Walter McGee
• Power, Propulsion, and Thermal– Henry Elder– Ethan Evans– Angela Maki
• Crew Systems– Pratik Saripalli– Sean Li
• Avionics and Software– Reuben Abraham– Anthony Morales– Sanka Perera– Sean Hersey– Michael Tsu– Benjamin Krosner
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Human/Robotic Servicing Project Team• Systems Integration
– Donald Clabaugh– Bradley Hood– Brian Chinn
• Mission Planning and Analysis– Marco Colleluori– Elizabeth Lato– Lucrecio Alberto
• Loads, Structures, and Mechanisms– David Thoerig– Jason Lu– William Gross
• Power, Propulsion, and Thermal– Richard Burcat– Grant Barrett– Jamil Shehadeh
• Crew Systems– Jason Niemeyer– Sahil Ambani
• Avionics and Software– Matthew Westerfield– Joseph Chung– Alexander Nelson
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Space Launch - The Physics
• Minimum orbital altitude is ~200 km
• Circular orbital velocity there is 7784 m/sec
• Total energy per kg in orbit
Potential Energy
kg in orbit= − µ
rorbit+
µ
rE= 1.9× 106 J
kg
Kinetic Energy
kg in orbit=
12
µ
r2orbit
= 30× 106 J
kg
Total Energy
kg in orbit= KE + PE = 32× 106 J
kg
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Theoretical Cost to Orbit
• Convert to usual energy units
• Domestic energy costs are ~$0.05/kWhr
Theoretical cost to orbit $0.44/kg
Total Energy
kg in orbit= 32× 106 J
kg= 8.888
kWhrs
kg
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Actual Cost to Orbit
• Delta IV Heavy – 23,000 kg to LEO– $250 M per flight
• $10,900/kg of payload• Factor of 25,000x higher
than theoretical energy costs!
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
What About Airplanes?
• For an aircraft in level flight,
• Energy = force x distance, so
• For an airliner (L/D=25) to equal orbital energy, d=81,000 km (2 roundtrips NY-Sydney)
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Total Energykg
=thrust× distance
mass=
Td
m=
gd
L/D
WeightThrust
=LiftDrag
, ormg
T=
L
D
Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Equivalent Airline Costs?
• Average economy ticket NY-Sydney round-round-trip (Travelocity 9/3/09) ~$1300
• Average passenger (+ luggage) ~100 kg• Two round trips = $26/kg
– Factor of 60x more than electrical energy costs– Factor of 420x less than current launch costs
• But… you get to refuel at each stop!
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Equivalence to Air Transport
• 81,000 km ~ twice around the world
• Voyager - one of only two aircraft to ever circle the world non-stop, non-refueled - once!
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Orbital Entry - The Physics
• 32 MJ/kg dissipated by friction with atmosphere over ~8 min = 66kW/kg
• Pure graphite (carbon) high-temperature material: cp=709 J/kg°K
• Orbital energy would cause temperature gain of 45,000°K!
• (If you’re interesting in how this works out, you can take ENAE 791 Launch and Entry Vehicle Design next term...)
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Newton’s Law of Gravitation• Inverse square law
• Since it’s easier to remember one number,
• If you’re looking for local gravitational acceleration,
F =
GMm
r2
µ = GM
g =
µ
r2
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Some Useful Constants
• Gravitation constant µ = GM– Earth: 398,604 km3/sec2
– Moon: 4667.9 km3/sec2
– Mars: 42,970 km3/sec2 – Sun: 1.327x1011 km3/sec2
• Planetary radii– rEarth = 6378 km
– rMoon = 1738 km
– rMars = 3393 km
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Energy in Orbit
• Kinetic Energy
• Potential Energy
• Total Energy
<--Vis-Viva Equation
K.E. =1
2mv
2=!
K.E.
m=
v2
2
P.E. = !µm
r="
P.E.
m= !
µ
r
Constant =v2
2!
µ
r= !
µ
2a
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v2 = µ
�2r− 1
a
�
Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Classical Parameters of Elliptical Orbits
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
The Classical Orbital Elements
Ref: J. E. Prussing and B. A. Conway, Orbital Mechanics Oxford University Press, 1993
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Implications of Vis-Viva
• Circular orbit (r=a)
• Parabolic escape orbit (a tends to infinity)
• Relationship between circular and parabolic orbits
vcircular =
!
µ
r
vescape =
!
2µ
r
vescape =!
2vcircular
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
The Hohmann Transfer
vperigee
v1
vapogee
v2r1
r2
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
First Maneuver Velocities• Initial vehicle velocity
• Needed final velocity
• Delta-V
v1 =
!
µ
r1
vperigee =
!
µ
r1
!
2r2
r1 + r2
!v1 =
!
µ
r1
"!
2r2
r1 + r2
! 1
#
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Second Maneuver Velocities
• Initial vehicle velocity
• Needed final velocity
• Delta-V
!v2 =
!
µ
r2
"
1 !
!
2r1
r1 + r2
#
vapogee =
!
µ
r2
!
2r1
r1 + r2
v2 =
!
µ
r2
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Implications of Hohmann Transfers• Implicit assumption is made that velocity changes
instantaneously - “impulsive thrust”• Decent assumption if acceleration ≥ ~5 m/sec2
(0.5 gEarth)• Lower accelerations result in altitude change
during burn ⇒ lower efficiencies and higher ΔVs• Worst case is continuous “infinitesimal” thrusting
(e.g., ion engines) ⇒ ΔV between circular coplanar orbits r1 and r2 is
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∆VLow Thrust = Vc1 − Vc2 =
�µ
r1−�
µ
r2
Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Limitations on Launch Inclinations
Equator
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Differences in Inclination
Line of Nodes
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Choosing the Wrong Line of Apsides
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Simple Plane Change
vperigee
v1vapogee
v2
Δv2
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Optimal Plane Change
vperigee v1 vapogee
v2
Δv2Δv1
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
First Maneuver with Plane Change Δi1
• Initial vehicle velocity
• Needed final velocity
• Delta-V
v1 =�
µ
r1
vp =�
µ
r1
�2r2
r1 + r2
∆v1 =�
v21 + v2
p − 2v1vp cos ∆i1
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Second Maneuver with Plane Change Δi2
• Initial vehicle velocity
• Needed final velocity
• Delta-V
∆v2 =�
v22 + v2
a − 2v2va cos ∆i2
va =�
µ
r2
�2r1
r1 + r2
v2 =�
µ
r2
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Sample Plane Change Maneuver
Optimum initial plane change = 2.20°
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Calculating Time in Orbit
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Time in Orbit
• Period of an orbit
• Mean motion (average angular velocity)
• Time since pericenter passage
➥M=mean anomaly
P = 2π
�a3
µ
n =�
µ
a3
M = nt = E − e sinE
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Dealing with the Eccentric Anomaly
• Relationship to orbit
• Relationship to true anomaly
• Calculating M from time interval: iterate
until it converges
r = a (1− e cos E)
tanθ
2=
�1 + e
1− etan
E
2
Ei+1 = nt + e sinEi
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Example: Time in Orbit
• Hohmann transfer from LEO to GEO– h1=300 km --> r1=6378+300=6678 km
– r2=42240 km
• Time of transit (1/2 orbital period)
a =12
(r1 + r2) = 24, 459 km
ttransit =P
2= π
�a3
µ= 19, 034 sec = 5h17m14s
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Example: Time-based Position
Find the spacecraft position 3 hours after perigee
E=0; 1.783; 2.494; 2.222; 2.361; 2.294; 2.328; 2.311; 2.320; 2.316; 2.318; 2.317; 2.317; 2.317
Ej+1 = nt + e sin Ej = 1.783 + 0.7270 sin Ej
n =�
µ
a3= 1.650x10−4 rad
sec
e = 1− rp
a= 0.7270
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Example: Time-based Position (cont.)
Have to be sure to get the position in the proper quadrant - since the time is less than 1/2 the period, the spacecraft has yet to reach apogee --> 0°<θ<180°
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E = 2.317
tanθ
2=
�1 + e
1− etan
E
2=⇒ θ = 160 deg
r = a(1− e cosE) = 12, 387 km
Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Basic Orbital Parameters
• Semi-latus rectum (or parameter)
• Radial distance as function of orbital position
• Periapse and apoapse distances
• Angular momentum!h = !r ! !v
p = a(1 ! e2)
r =p
1 + e cos !
rp = a(1 ! e) ra = a(1 + e)
h =
!
µp
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Velocity Components in Orbit
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r =p
1 + e cos θ
vr =dr
dt=
d
dt
�p
1 + e cos θ
�=−p(−e sin θ dθ
dt )(1 + e cos θ)2
vr =pe sin θ
(1 + e cos θ)2dθ
dt
1 + e cos θ =p
r⇒ vr =
r2 dθdt e sin θ
p−→h = −→r ×−→v
Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Velocity Components in Orbit (cont.)
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�h = �r × �v h = rv cos γ = r
�rdθ
dt
�= r2
dθ
dt
Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Patched Conics• Simple approximation to multi-body motion (e.g.,
traveling from Earth orbit through solar orbit into Martian orbit)
• Treats multibody problem as “hand-offs” between gravitating bodies --> reduces analysis to sequential two-body problems
• Caveat Emptor: There are a number of formal methods to perform patched conic analysis. The approach presented here is a very simple, convenient, and not altogether accurate method for performing this calculation. Results will be accurate to a few percent, which is adequate at this level of design analysis.
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Example: Lunar Orbit Insertion• v2 is velocity of moon
around Earth• Moon overtakes
spacecraft with velocity of (v2-vapogee)
• This is the velocity of the spacecraft relative to the moon while it is effectively “infinitely” far away (before lunar gravity accelerates it) = “hyperbolic excess velocity”
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Planetary Approach Analysis
• Spacecraft has vh hyperbolic excess velocity, which fixes total energy of approach orbit
• Vis-viva provides velocity of approach
• Choose transfer orbit such that approach is tangent to desired final orbit at periapse
v =
!
v2
h+
2µ
r
!v =
!
v2
h+
2µ
r!
!
µ
r
v2
2− µ
r= − µ
2a=
v2h
2
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Patched Conic - Lunar Approach• Lunar orbital velocity around the Earth
• Apogee velocity of Earth transfer orbit from initial 400 km low Earth orbit
• Velocity difference between spacecraft “infinitely” far away and moon (hyperbolic excess velocity)
vm =
!
µ
rm
=
!
398, 604
384, 400= 1.018
km
sec
va = vm
!
2r1
r1 + rm
= 1.018
!
6778
6778 + 384, 400= 0.134
km
sec
vh = vm ! va = vm = 1.018 ! 0.134 = 0.884km
sec
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Patched Conic - Lunar Orbit Insertion
• The spacecraft is now in a hyperbolic orbit of the moon. The velocity it will have at the perilune point tangent to the desired 100 km low lunar orbit is
• The required delta-V to slow down into low lunar orbit is
vpm =
!
v2
h +2µm
rLLO=
!
1.0182 +2(4667.9)
1878= 2.451
km
sec
!v = vpm ! vcm = 2.451 !
!
4667.9
1878= 0.874
km
sec
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
ΔV Requirements for Lunar Missions
To:
From:
Low EarthOrbit
LunarTransferOrbit
Low LunarOrbit
LunarDescentOrbit
LunarLanding
Low EarthOrbit
3.107km/sec
LunarTransferOrbit
3.107km/sec
0.837km/sec
3.140km/sec
Low LunarOrbit
0.837km/sec
0.022km/sec
LunarDescentOrbit
0.022km/sec
2.684km/sec
LunarLanding
2.890km/sec
2.312km/sec
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
LOI ΔV Based on Landing Site
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
LOI ΔV Including Loiter Effects
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Interplanetary “Pork Chop” Plots
• Summarize a number of critical parameters– Date of departure– Date of arrival– Hyperbolic energy (“C3”)– Transfer geometry
• Launch vehicle determines available C3 based on window, payload mass
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Hill’s Equations (Proximity Operations)
€
˙ ̇ x = 3n2x + 2n˙ y + adx
€
˙ ̇ y = −2n˙ x + ady
€
˙ ̇ z = −n 2z + adz
Ref: J. E. Prussing and B. A. Conway, Orbital Mechanics Oxford University Press, 1993
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Clohessy-Wiltshire (“CW”) Equations
€
x(t) = 4 − 3cos(nt)[ ]xo +sin(nt)
n˙ x o +
2n
1− cos(nt)[ ] ˙ y o
€
y(t) = 6 sin(nt)− nt[ ]xo + yo −2n
1−cos(nt)[ ] ˙ x o +4sin(nt)− 3nt
n˙ y o
€
z( t) = zo cos(nt) +˙ z on
sin(nt)
€
˙ z ( t) = −zonsin(nt) + ˙ z o sin(nt)
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
“V-Bar” Approach
Ref: Collins, Meissinger, and Bell, Small Orbit Transfer Vehicle (OTV) for On-Orbit Satellite Servicing and Resupply, 15th USU Small Satellite Conference, 2001
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
“R-Bar” Approach
• Approach from along the radius vector (“R-bar”)
• Gravity gradients decelerate spacecraft approach velocity - low contamination approach
• Used for Mir, ISS docking approaches
Ref: Collins, Meissinger, and Bell, Small Orbit Transfer Vehicle (OTV) for On-Orbit Satellite Servicing and
Resupply, 15th USU Small Satellite Conference, 2001
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Orbital MechanicsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
References for This Lecture• Wernher von Braun, The Mars Project University of
Illinois Press, 1962• William Tyrrell Thomson, Introduction to Space
Dynamics Dover Publications, 1986• Francis J. Hale, Introduction to Space Flight Prentice-
Hall, 1994• William E. Wiesel, Spaceflight Dynamics MacGraw-
Hill, 1997• J. E. Prussing and B. A. Conway, Orbital Mechanics
Oxford University Press, 1993
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