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Return to Earth?
In a space exploration mission, you are preparing for a return from Mars. You are
designated designer of the route from Martian launch to Martian orbit to Earth targeting
and capture. In this exercise, you will design that mission and use it to look at::
Problem Statement
In preparation for the manned missions to Mars, the United States is planning
a Martian mission that will fly to Mars, land, and then return the sample to the
international space station in Earth orbit. After a successful landing on the
surface of Mars, the space vehicle is now ready to return. Before doing so, you
must model the Martian launch, orbit and return to Earth, ending in a phasing
orbit relative to the station.
BREAK IT DOWN
The mission plan is to wait to launch when the Mars velocity vector is
roughly aligned with the launch orbit plane to ensure the spacecraft is
targeted in the right direction.
The Mars mission will launch from the surface of Mars at the location of
the original Martian landing--Martian latitude 67 degrees, longitude 80
degrees and altitude 0 degrees around 21 Jun 2020 at 12:00:00 UTC.
The burnout will be at the fixed velocity of 3.299 km/sec.
In order to assist the targeting of the outgoing asymptotes, the launch
should take place roughly when Mars heliocentric velocity vector lies in
the plane of the initial satellite orbit.
Using the Jaqar Swing-by Calculator (http://www.jaqar.com/swingby.html),
you estimated values that will help you model the proper angles and energy.
A mid-course maneuver will correct the trajectory so it passes Earth at the
correct distance.
Aerobraking is used to capture into an earth orbit.
A phasing orbit relative to the station is targeted.
SOLUTION
Build a STK Scenario that uses STK/Astroator to plan a mission that will
launch a spacecraft from the surface of Mars and bring it back to Earth.
PAGE 2
1. Launch STK ( ).
2. Click the Open a Scenario button when the Welcome to STK window
appears.
3. Browse to C:\Training\STK\SpaceExploration.
4. Select MarsReturn.vdf.
5. Click Open.
6. Save the new scenario in your student area (C:\My Documents\STK 9).
In doing so, create a unique folder and rename the new folder and the
scenario file (*.sc) MarsReturn.
When you open the scenario, you will find the following objects:
TABLE 1.
OBJECT
DESCRIPTION
Earth
Mars
Sun
SpaceStation
The scenario also has the following three views already set up:
TABLE 2.
OBJECT
DESCRIPTION
3D Graphics - Mars
3D Graphics - Sun
3D Graphics - Earth
Model a Spacecraft
The first thing we need to do is model the spacecraft that will be making the
trip back from Mars.
1. Open the Insert STK Object Tool ( ) if it is not already.
2. Use the Insert Default ( ) method to insert an satellite ( ) object named
SampleReturn.
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OBJECT GRAPHICS
Before you start configuring your spacecraft, lets make some adjustments to
its display in the visualization windows.
Open SampleReturns ( ) properties ( ).
Select the 3D Graphics - Pass page.
Change the Lead Type for the Orbit Track to All.
Click Apply.
Select the 3D Graphics - Model page.
Move the slider for Marker, Label; Marker; and Point all the way to the right.
You will now see these things at a far distance.
7. Click Apply.
1.
2.
3.
4.
5.
6.
SELECT A PROPAGATOR
1. Select the Basic - Orbit page.
2. Change the Propagator selected to an Astrogator propagator.
3. Click Apply.
What Is Astrogator?
STK/Astrogator is an interactive orbit maneuver and space mission planning
tool for use by spacecraft operations and mission analysis staff that offers
wide flexibility through the use of customized thrust models, finite and
impulsive maneuvers, and the ability to solve for solutions with a differential
corrector targeter. You can use Astrogator for a variety of space mission
analyses, such as:
Formation flying, rendezvous planning, constellation design, space-based
PAGE 4
intercept.
Interplanetary, lunar, and libration point trajectories.
GEO, LEO, HEO, Sun-Sync orbit maintenance requirements.
Automated planning of event-driven maneuvers.
Monte Carlo and other script driven analyses.
Incorporating fully customizeable force, engine, and atmospheric models.
High, low, and variable-thrust trajectories.
By adding, removing, rearranging, and editing MCS Segments, you can define a
mission of any desired level of complexity. The MCS is represented
schematically by a tree structure appearing in the left pane of the Orbit page of
the satellite's basic properties.
MCS CONTROLS
The Astrogator propagator includes a full set of controls that can be used for
inserting, deleting, copying, and editing segments.
FIGURE 2.
Page 5
LAUNCH PARAMETERS
According to what you know, the Mars mission will launch from the surface
of Mars (zero altitude) at Martian coordinates 67 degrees latitude by 80
degrees longitude around June 21, 2020 at 12:00:00. You need to set up the
launch so that it leaves Mars at the correct time from the correct location.
Lets do that now
1. Select MarsLaunch ( ) in the MCS tree. When you select a segment in the
MCS tree, its properties display in the panel to the right.
2. Set the following Launch parameters:
TABLE 3. MarsLaunch
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Launch parameters
OPTION
VALUE
Central Body
Mars
Launch
Geodetic
Epoch
Latitude
67 deg
Longitude
80 deg
Altitude
0 km
BURNOUT VELOCITY
The default values for the Astrogator launch segment yield a circular orbit at
300 km altitude for Earth. In order to enter a 300 km circular orbit around
Mars, the burnout velocity should be changed to 3.299 km/sec. Let's let
Astrogator know that too.
1. Click the Burnout Velocity button.
2. Set the following Burnout parameters:
TABLE 4. MarsLaunch
Burnout parameters
OPTION
VALUE
Burnout Options
Fixed Velocity
3.299 km/sec
MarsLaunch properties
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maneuver location the engine will fire and put the spacecraft on a path back to
Earth. You need to add a propagate segment that models the spacecraft
coasting in Martian orbit. This will take the spacecraft from the burnout state
to the proper maneuver time. In order to do this, we need to create a custom
propagator to use in modeling the propagate segment. Lets do that now.
CUSTOMIZE COMPONENTS
In order to correctly propagate a satellite around Mars, youll need to create a
customized propagator. We can do that using the Component Browser.When you
select Propagators in the tree, all available components will display in the table
on the right.
4. Expand the Propagators in the Component Tree.
5. Select Previous Versions.
6. Select Earth Full RKF.
PAGE 8
FIGURE 4.
Propagator components
Components with Orange and Yellow icons cannot be edited. You must
duplicate the yellow component before you can customize it.
Components with green icons are customized by a user and can be
edited or removed.
Page 9
7. Click OK.
8. Click OK to close the Components Browser.
PAGE 10
OPTION
VALUE
Name
MarsCoast
Color
7. Click OK.
8. Select MarsCoast ( ) in the MCS tree.
Here well take an initial guess at the Trip value, which, in this instance,
represents the length of time that the spacecraft will have to propagate to
reach the next segment. Later, well target that value and let Astrogator adjust it
for us.
9.
10.
11.
12.
13.
THRUST VECTOR
The term thrust vector is used to describe the direction of acceleration applied
to the satellite. This direction is opposite to the exhaust of an engine. For
example, for a single chemical rocket engine mounted to a satellite, the thrust
vector is opposite to the direction of the flames.
If multiple engines are being used together in a thruster set, the thrust vector
is along the direction of the overall effective acceleration. This is determined
by calculating the acceleration vector of each individual thruster, with both
the direction and magnitude. The thrust vector is then calculated along the
direction of the vector to be the sum of all the acting acceleration vectors.
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ATTITUDE PARAMETERS
You know you need to leave Martian gravity. Burning in the velocity direction
with respect to Mars is the most efficient way to attempt to leave Martian
gravity using an impulsive maneuver with one burn. Well add a Delta-V
maneuver that is along the direction of the spacecraft velocity with respect to
Mars, which is the X direction of the VNC (Mars) frame.
Here, again, well take an initial guess at the X velocity value needed to get us
out of Martian gravity. Later, well target this value and let Astrogator adjust it
for us.
1. Select EscapeMnvr ( ) in the MCS tree.
2. Ensure that the Attitude tab is selected.
3. Set the following:
TABLE 6. Escape
OPTION
VALUE
Altitude Control
Thrust Vector
Thrust Axes
VNC (Mars)
X(Velocity)
3 km/sec
OPTION
VALUE
Name
LeaveMarsSOI
Color
4. Click OK.
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OPTION
VALUE
Trip
580,000 km
Coord System
Mars J2000
Page 13
FIGURE 6.
The color of each segment in the orbit coincides with the color of the
segment in the MCS tree.
PAGE 14
OPTION
VALUE
Name
Description
Type
Orbit Normal
Central Body
Mars
OPTION
VALUE
Name
Description
Type
Normal
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4. Click OK.
5. Click OK to add the new plane.
PAGE 16
OPTION
VALUE
Name
Description
Type
To Plane
The To Plane type is defined as the angle from a vector (reference vector) to a
plane (reference plane).
Page 17
PAGE 18
LAUNCH VARIABLES
Well set the independent variables for the launch segments so that we can use
them in the search profile. Allowing Astrogator to adjust these values for us
will help ensure that the spacecraft is headed in the correct direction.
1. Select MarsLaunch ( ) in the MCS tree to display its properties.
2. Click the target icon ( ) beside the Launch Epoch to mark it as an
independent variable.
Results
Beneath the MCS tree is a Results... button, which allows you to specify
calculation objects to be reported and targeted for each segment. Clicking this
button will open the User-Selected Results window, in which you can select
calculation objects to include in the summary report for the currently selected
segment, and to target when defining a search profile for the target sequence.
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Search Profiles
Search profiles define goals and modify variables to achieve them. There are
two types of search profiles you can use in a target sequence--differential
correctors and plugins. The differential corrector profile targets specific
values - defined as independent variables. The target sequence will change the
value of independent variables as needed to achieve the goal defined by the
dependent variables, utilizing a differential correction algorithm.
Dependent variables are defined in terms of Astrogator's extensive repertoire
of calculation objects. The selections that appear here were selected in the
User-Selected Results window for that segment accessed via the Results... button.
Calculation objects are selected for dependent variable definition in the UserSelected Results window, but the manner in which they will be used is specified
here in the setup of the differential corrector.
PAGE 20
OPTION
VALUE
Launch Epoch
On
Perturbation
5 min
Max Step
1 hr
On
7. Ensure that the Desired Value for the Orbit Plane Angle (Mars) constraint is
set to zero (0) degrees.
8. Click OK.
Should converge in
about 6 iterations
If the differential corrector doesnt converge in one run, click the green
arrow to run it again
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FIGURE 8.
PAGE 22
The targeter will alter the launch epoch in order to force the angle to zero.
The initial and new values will display below the Profiles panel.
What is the difference in the initial and final values?
In the picture above, we selected the EscapeMnvr segment and updated the
animation to the Initial time, so Astrogator positioned the spacecraft at the
beginning of the maneuver. Although the maneuver doesnt have a visible
portion of the orbit, you can see where the spacecraft will be when it occurs.
If we had done the same thing using the Final time, Astrogator would have
positioned me at the end of the segment.
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PROPAGATE VARIABLES
First, well define the independent variables for the propagate segment. When
we created the propagate segment, we guessed at the approximate coast time
before performing the escape maneuver. Well mark that as an independent
variable and let Astrogator adjust the amount of time that the spacecraft should
coast.
1. Bring Astrogator to the front.
2. Select MarsCoast ( ) in the MCS tree.
3. Click the beside Trip to mark it as an independent variable ( ).
MANEUVER VARIABLES
Earlier you took an initial guess at the X velocity value needed to get out of
Martian gravity in the maneuver segment (EscapeMnvr). Now, we can mark
that as an independent variable so that Astrogator can adjust it if necessary.
1. Select EscapeMnvr ( ) in the MCS tree to display its properties.
2. Click the target icon ( ) beside the X(Velocity) value to mark it as an
independent variable ( ).
PAGE 24
ADD C3 ENERGY
1. When the User-Selected Results dialog appears, expand the tree as follows:
... Target Vector
... C3 Energy
2. Double-click the C3 Energy component ( ).
3. Select C3 Energy in the topmost table.
4. Double-click the Value for Central Body in the Components Details area.
5. When the component selection dialog appears, select Mars ( ).
6. Click OK.
Page 25
CONTROL PARAMETERS
The Control Parameters are independent variables that you marked for inclusion
while setting up the target sequence. Well set the values for the control
parameters and equality constraints using values obtained using and external
Lambert problem solver.
1.
2.
3.
4.
CONTROL PARAMETER
STATE PERTURBATION
MAX STEP
Launch Epoch
On
15 min
1 hr
On
60 sec
500 sec
On
0.0001 (Default)
0.1 (Default)
EQUALITY CONSTRAINTS
Equality constraints in the search profile outline dependant variables to be
considered in your analysis. Here well set the desired value based on the
results from the Jaqar Swing-by Calculator, and again, well let Astrogator adjust
those values as necessary.
1. Select the C3 Energy Equality Constraint.
2. Set the following:
TABLE 14. Asymptote
EQUALITY CONSTRAINT
STATE
DESIRED VALUE
C3 Energy
On
14.3572 km^2/sec^2
On
3.30596 deg
Outgoing Asymptote RA
On
-131.622 deg
3. Click OK.
PAGE 26
Page 27
3D View:
PAGE 28
The satellite is now headed roughly back toward Earth, but not quite. A
midcourse maneuver will assure the desired Earth arrival in the orbit.
3. When you finish, delete ( ) the newly added Propagate segment ( ).
Earth Arrival
Now, lets create the midcourse maneuver that will assure an Earth arrival.
The first target sequence launched you from the surface of Mars and took you
to the Mars SOI boundary. The one we create here will target a maneuver that
sets the spacecraft into a path which results in the desired orbit around Earth.
1. Add a new Target Sequence ( ) below the MartianLaunch ( ) sequence.
2. Change the name to EarthArrival.
OPTION
VALUE
Altitude Control
Thrust Vector
Thrust Axes
VNC (Sun)
X (Velocity)
Independent variable ( )
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OPTION
VALUE
Y (Normal)
Independent variable ( )
Z (Co-normal)
Independent variable ( )
Well use the velocity relative to the sun to define the thrust axes because
were now in heliocentric space. Astrogator will adjust all three components of
the maneuver to achieve the correct perigee altitude and orbital plane.
OPTION
VALUE
Name
ToEarthSOI
Color
4.
5.
6.
7.
STOPPING CONDITIONS
1.
2.
3.
4.
5.
6.
PAGE 30
OPTION
VALUE
Name
ToPerigee
Color
4. Click OK.
STOPPING CONDITIONS
1.
2.
3.
4.
5.
Page 31
FIGURE 13.
The B-plane is defined as the plane that contains the focus of an idealized twobody trajectory (assumed to be a hyperbola) that is perpendicular to the
incoming asymptote of that hyperbola. The incoming and outgoing
asymptotes, and, the focus are contained in the trajectory plane, which is
perpendicular to the B-plane. The intersection of the B-plane and the trajectory
plane defines a line in space. The B-vector is defined to lie alone this line,
starting on the focus and ending at the spot where the incoming asymptote
pierces the B-plane. The vectors and lie in the B-plane and are used as axes.
PAGE 32
8.
9.
10.
11.
12.
13.
14.
15.
CONTROL PARAMETERS
STATE
Impulsive Mnvr.Cartesian X
On
Impulsive Mnvr.Cartesian Y
On
Impulsive Mnvr.Cartesian Z
On
EQUALITY CONSTRAINTS
STATE
DESIRED VALUE
BDotR
On
10,000 km
BDotT
On
20,000 km
7. Click OK.
Page 33
PAGE 34
ALTITUDE OF PERIAPSIS
1. Select the ToPerigee propagate segment ( ).
2. Click the Results... button.
3. Expand the component tree as follows:
... Keplerian Elems
... Altitude of Periapsis
4. Double-click the Altitude of Periapsis component ( ) to add it to the list.
RELATIVE INCLINATION
1. Expand the component tree as follows:
... Formation
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... RelativeValue
2. Double-click the RelativeValue component ( ) to add it to the list.
3. Select RelativeValue in the topmost table.
4. Set the following:
TABLE 20. Relative
inclination values
OPTION
VALUE
CalcObject
Keplerian Elems/Inclination
ComponentName
RelativeInclinatin
Reference Selection
UserSpecifiedReference
Reference
Satellite/SpaceStation
RELATIVE RAAN
1. Expand the component tree as follows:
... Formation
... RelativeValue
2. Double-click the RelativeValue component ( ) to add it to the list.
3. Select RelativeValue in the topmost table.
4. Set the following:
TABLE 21. Relative
RAAN values
OPTION
VALUE
CalcObject
Keplerian Elems/RAAN
ComponentName
RelativeRAAN
Reference Selection
UserSpecifiedRefreence
Reference
Satellite/SpaceStation
5. Click OK.
PAGE 36
4.
5.
6.
7.
CONTROL PARAMETERS
STATE
PERTURBATION
Impulsive Mnvr.Cartesian X
On
0.00001 km/sec
Impulsive Mnvr.Cartesian Y
On
0.00001 km/sec
Impulsive Mnvr.Cartesian Z
On
0.00001 km/sec
EQUALITY CONSTRAINTS
STATE
DESIRED VALUE
Altitude of Periapsis
On
150 km
Relative Inclination
On
0.0
Relative RAAN
On
0.0
Well set the desired relative values to zero since were targeting the space
station.
9. Click OK.
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Earth Capture
The satellite is now arriving at Earth in the proper orbit.
1. Add a new Target Sequence ( ) below the EarthArrival ( ) sequence.
2. Change the name to EarthCapture.
MANEUVER
Lets add a maneuver that will put the spacecraft in the initial capture orbit.
1. Add a Maneuver segment ( ) to the EarthCapture ( ) sequence.
2. Rename the segment CaptureMnvr.
3. Change the name of the Maneuver segment ( ) to CaptureMnvr.
PAGE 38
OPTION
VALUE
Altitude Control
Antivelocity Vector
2 km/sec
Delta V Magnitude
RESULTS
1. Click the Results... button.
2. Expand the component tree as follows:
... Keplerian Elems
... Eccentricity
3. Double-click the Eccentricity component ( ) to add it to the list.
4. Click OK.
PROPAGATE
1. Add a Propagate segment ( ) after the maneuver.
2. Select the new Propagate segment ( ).
3. Set the following:
TABLE 25. To
OPTION
Name
VALUE
ToApoapsis
Color
4. Click OK.
STOPPING CONDITIONS
Now, well add a stopping condition to
1. Click the Insert... button.
2. Select the Apoapsis item ( ).
3. Click OK to add the new Stopping Condition to the table.
Page 39
RUN!
1. Ensure that the Action is set to Run active profiles.
2. Click Run ( ).
Did the profile converge?
If so, did you achieve the desired values?
PAGE 40
FIGURE 17.
Aerobraking
The satellite is captured in an elliptical orbit. Now, we need to work our way
down to a circular orbit like the one that the space station is in.
1. Add a Propagate segment ( ) after the EarthCapture target sequence ( ).
2. Double-click the new Propagate segment ( ).
3. Set the following:
TABLE 26. Aerobraking
segment properties
OPTION
VALUE
Name
Aerobraking
Color
4. Click OK.
STOPPING CONDITIONS
1. Select Aerobraking ( ) in the MCS tree.
2. Click the Insert... button.
3. Select the Periapsis item ( ).
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4.
5.
6.
7.
Automatic Sequences
Automatic Sequences are MCS elements that are structurally similar to Sequence
segments, but are not MCS segments, properly. Rather, Automatic Sequences can
be assigned to Propagate and Maneuver (Finite) segments, and function as
subroutines by executing in response to specified stopping conditions of
those segments.
OPTION
VALUE
Attitude Control
Antivelocity Vector
Delta V Magnitude
0.25 km/sec
4. Click OK.
5. Click OK to dismiss the Automatic Sequence Browser.
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The Automatic Sequence for this propagate segment will run for seven
periapsides and the propagate segment will stop on the eight periapsis.
OPTION
VALUE
Sequence
SmallBurn
RUN!
1. Select EarthCapture ( ) in the MCS tree.
2. Ensure that the Action is set to Run active profiles.
3. Click Run ( ).
Did the profile converge?
If so, did you achieve the desired values?
Page 43
FIGURE 18.
3D View: Aerobraking
PAGE 44
TABLE 29.
OPTION
VALUE
Name
ToApogee
Color
4. Click OK.
STOPPING CONDITIONS
1.
2.
3.
4.
5.
OPTION
VALUE
Altitude Control
Thrust Vector
X(Velocity)
0 km/sec
Page 45
Instead, well use a mean anomaly difference of 180 degrees. But first, we have
to define a calculation object that gives us the difference in mean anomaly.
1. Select the Astrogator Browser option from the View menu in the STK
Workspace to open the component browser.
2. Expand the component tree as follows:
... CalculationObjects
... Math
3. Select Math.
4. Select Difference ( ) components table.
5. Click the Duplicate button.
6. Rename it MeanAnomalyDifference.
7. Click OK.
8. When the new component (Mean Anomaly Difference) appears in the table,
double-click it.
9. Double-click the CalcObject value.
10. Expand the component tree as follows:
... Keplerian Elems
... MeanAnomaly
11. Select MeanAnomaly ( ).
12. Click OK.
13. Click OK to dismiss the component editing window.
14. Click OK to dismiss the Astrogator Browser.
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around properties
OPTION
VALUE
Name
HalfAround
Color
4. Click OK.
STOPPING CONDITIONS
Well add the same stopping condition to the second propagate segment that
we used for the first to ensure that we stop at the next apsis.
1.
2.
3.
4.
5.
6.
7.
8.
OPTION
VALUE
Altitude Control
Thrust Vector
X(Velocity)
RESULTS
1. Click the Results... button.
2. Expand the component tree as follows:
... Geodetic
Page 47
3.
4.
5.
6.
... Altitude
Double-click the Altitude component ( ) to add it to the list.
Expand the component tree as follows:
... Keplerian Elems
... Eccentricity
Double-click the Eccentricity component ( ) to add it to the list.
Click OK.
CONTROL PARAMETERS
STATE
Impulsive Mnvr.Cartesian X
On
Impulsive Mnvr.Cartesian X
On
EQUALITY CONSTRAINTS
STATE
DESIRED VALUE
Altitude
On
800 km
Eccentricity
On
RUN!
1. Select CircularPhasingOrbit ( ) in the MCS tree.
PAGE 48
Final Orbit
Now that the targeter has put us in the final phasing orbit, we need to
propagate to see the orbit. Well propagate for five days in the final orbit.
1. Add a Propagate segment ( ) after the CircularPhasingOrbit target
sequence ( ).
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around properties
OPTION
VALUE
Name
Final Orbit
Color
RUN!
1. Select CircularPhasingOrbit ( ) in the MCS tree.
2. Ensure that the Action is set to Run active profiles.
3. Click Run ( ).
Did the profile converge?
If so, did you achieve the desired values?
PAGE 50
FIGURE 20.
Data Reporting
The Maneuver Summary report style is available only to Astrogator satellites. This
report shows a summary of the maneuver segments in the MCS that have
been run.
1.
2.
3.
4.
the maneuvers?
The MCS Ephemeris Segments report style shows which Astrogator segment
produced each interval of ephemeris.
1.
2.
3.
4.
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