15th AAS/AIAA Space Flight Mechanics

Meeting, Copper Mountain, Colorado

Low Energy Interplanetary Transfers
From Earth To Mars
Hong Rae Kim
Aerospace Engineering
Korea Aviation Untiversity

15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
To find low energy interplanetary transfer orbits from Earth
to Mars
To find Moon gravity assisted trajectory method
To find Earth gravity assisted trajectory method
To find L2 halo orbit insertion method,
Perform the L2 station-keeping operations, and
To determine halo orbit hopping method between SEM L2 halo
orbits and Mars
To design all the trajectories using STK/Astrogator
Aims and Scope
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Gravity Assisted Trajectory Method
Most famous method for sending spacecraft to distant
planets. E.g., Cassini mission to Saturn (Oct 97- Jul 04)
Advantages: higher speeds (short transfer times).
Disadvantages: cost, constraint imposed by the fly-by
body, limitations due to impact parameter.
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Gravity Assisted Trajectory Method
B-Plane Method
The incoming and outgoing asymptotes, and , and the
focus are contained in the trajectory plane, which is
perpendicular to the b-plane
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Gravity Assisted Trajectory Method
B-Plane Method
The b-plane is defined to contain the focus of an idealized
two-body trajectory
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Gravity Assisted Trajectory Method
B-Plane Method
v
v r
r
r
v
e
v r
v r
n

|
|
.
|

\
|
=

=
1
| |

2
) 1 ( | |
2
2 2
2
1
2
2
=
|
|
.
|

\
|
=
= =

e a b
v
r
a
r
v
a

c Energy Equation
) ( sin cos

)
1
( cos
1
e n e S
e
+ =
=

o o
o
T S R
N S
N S
T

|

|

=
)

(


n S b B
n S B
=
=

The distance from the focus to the intersection of the incoming asymptote
and the b-plane can be shown to be equal to the semiminor axis b
The direction of the b-vector
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Gravity Assisted Trajectory Method
B-Plane Method Example New Horizon Project
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Calculation Results Swingby Mission
Lunar Swingby
BR 2500km
BT 12000km
Earth Swingby
Inclination 26deg
R_Magnitutde 6700km
C3 Energy 8.8
km^2/s^2
Outgoing Declination -9 deg
Outgoing Right-ascension 353 Deg
Referance DATA : Astrogatorguilds GTO Mission
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Targeting Methods Using STK/Astrogator
The whole mission is split in steps and phases.
Steps: Swingby Moon, Swingby Earth.
Phases: Impulsive maneuvers, propagation, stopping conditions.
Targeting method at every step uses the Differential
Corrector by defining a 3-D target.
Incoming Moon and Outcoming Moon, go back Earth
Incoming Earth and Outcoming Earth, go to Mars
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Targeting Methods using STK/Astrogator
Start
Propagating to Moon
Creating Calculation objects
Setting up the Targeter
Running the Targeter
Performing the Engine burn I
Getting to Moon
Swingby Moon
Estimating the size of the burn
Setting up the Targeter

Adjusting the Engine
burn
Getting to Earth
Swingby Earth
Setting up the Targeter
Creating a Targeting
profile
Running the Targeter
Performing the Engine
burn II
Escaping a Earth
Creating a Targeting
Profile
Running the Targeter
Capturing the spacecraft
Getting to Mars
Creating a Targeting Profile
Running the Target
1
2
3
4
5
Sequences in swingby moon and swingby earth
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Swingby Targeting methods using STK/Astrogator
Initial about 20000km, Go far from Earth
Swingby Moon
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Swingby Targeting methods using STK/Astrogator
Swingby Earth
Using gravity assisted
Trajectory From Earth
to Mars
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Swingby Targeting methods using STK/Astrogator
Swingby moon, and Swing by Earth
Caputure Mars and change altitude
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Results
1. Earth Departure: 2007/3/1
2. ~Swingby Moon
Duration: 29 days (approx.)
V: 3.933101 km/s ( approx.)
3. ~Swingby Earth
Duration: 3 days (approx.)
V :0.642152 km/s
4. Arrive at Mars
Duration: 150 days (approx.)
V: 0.123191km/s
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Conclusion
Saving of fuel by over 60% over Hohmann Transfer method
Saving ot time by about 30 days over Hohmann transfer
method
Considering Timing, Gravity assisted by Moon, Earth
method is very complex
Flight Time 210 Days
Total Delta V 14.3 km/s
Flight Time 182 Days
4.7 4.68km/s
Hohmann Transfer
Gravity Assisted Transfer
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Solution of E.O.M. is not periodic and hence need of a
control effort (L2).
This is called Period or Frequency control in literature.
The resulting periodic orbit is called a halo orbit.
When the spacecraft is actively controlled to follow a
periodic halo orbit, the orbit, generally does not close due
to tracking error.
The Restricted Three-body Problem
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
The Restricted Three-body Problem
= =
=
2 1
12
, 1
1
m m
a
Equation of Motion
Assume smaller mass m2
t t 2
) (
2
2 / 1
2 1
3
12
12
=
(

+
=
m m G
a
T
) ( 2
2
2
2
2
r w w r
dt
d
w r
dt
d
r
dt
d
si si
s
si
s i
+ + =
3 2 1
zs ys xs r + + =
Position vector of the small mass
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
The Restricted Three-body Problem
3 2 1
2
2
3 2 1
s z s y s x r
dt
d
s z s y s x r
dt
d
s
s


+ + =
+ + =
Inertial Acceleration of the small mass
3 2 1
2
2
) 2 ( ) 2 ( s z s y x y s x y x
dt
r d
i
+ + + =
2 / 1 2 2 2
1
] ) [( z y x r + + =
2 / 1 2 2 2
2
] ) 1 [( z y x r + + + =
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
The Restricted Three-body Problem
3
2
3
1
3
2
3
1
3
2
3
1
) 1 (
) 1 (
2
) 1 ( ) )( 1 (
2
r
z
r
z
z
r
y
r
y
y x y
r
x
r
x
x y x

= +
+

=



Three Components in the rotating frame
The system equations of motion are found by equating the inertial
acceleration
Assumption of zero mass for the third object theses are following a
pure Keplerian circular orbit.
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
The Lagrangian Point
Lagrangian points are the five positions in an orbital
configuration where a small object affected only by gravity
can theoretically be stationary relative to two larger objects
(such as a satellite with respect to the Earth and Moon).
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
The Lagrangian Point
3
2
3
1
3
2
3
1
3
2
3
1
) 1 (
0
) 1 (
) 1 ( ) )( 1 (
r
z
r
z
r
y
r
y
y
r
x
r
x
x

=
+

=
If we wish to find equilibrium points, we need to set
the rotating-frame velocity and acceleration
component to zero
0 , 0 , 0 , 0 , 0 , 0 = = = = = = z y x z y x
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
The Lagrangian Point
Explore from L2 to L5
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Halo Orbit
A halo orbit is a Periodic, three- dimensional orbit near the
L1, L2, or L3 Lagrange points in the three-body problem of
orbital mechanics.

Halo orbits are the result of a complicated interaction
between the gravitational pull of the two planetary bodies
and the centripetal acceleration on a spacecraft.
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Halo Orbit
Explore EM L1
L1 Halo Orbit
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Calculation Results Halo Hopping Mission
SEM(L2)
Ax 80000 ~225000
Ay 50000~550000
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Calculation Results Halo Hopping Mission
SEML2
C3 Target 2500km
Distance from Earth to SEM L2 1530000km
Hopping Mission
Impulsive delta V x 0.05km/s~0.1km/s
Measn Radius 11000km
C3 Energy -0.505643 km^2/s^2
Rotate Mission Vy -0.4km/s (SEML2 Axis)
Rotate Mission Vx 0.244 km/s (SEML2 Axis)
Refrence DATA : Explorations of low cost connections between Lissajous
orbits from the Sun-Earth and Earth-Moon systems. AIAA 2006-6836
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Targeting Methods Using STK/Astrogator
The whole mission is split in steps and phases.
Steps: Halo orbit insertion at SEL2, Halo orbit hopping sequence.
Phases: Impulsive maneuvers, propagation, stopping conditions.
Targeting method at every step uses the Differential
Corrector by defining a 3-D target.
Perform a burn in anti-Sun line that takes the S/C in
vicinity of Sun-Earth L2 Lagrangian point.
Insertion: Adjust the burn in such a way the S/C crosses
Sun-Planet L2 Z-X plane with Sun-Planet L2 Vx=0 Km/s.
Station keeping: After several Sun-Planet Z-X plane
crossings, perform station keeping operations.
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Targeting Methods using STK/Astrogator
Start
Propagating to the Anti-Sun Line
Creating Calculation objects
Setting up the Targeter
Running the Targeter
Performing the Engine burn I
Getting to the vicinity of L2
Estimating the size of the burn
Setting up the Targeter

Specifying the constraints
Cross the ZX plane with
V
x
=0
Performing the Engine
burn II
Creating a Targeting
Profile
Running the Targeter
Adjusting the Engine burn
Targeting on the 2nd ZX
plane crossing
Setting up the Targeter
Creating a Targeting profile
Running the Targeter
Completing the First Target sequence to
Orbit around L2
Performing the station keeping
Maneuver
Setting up the Targeter
Running the Targeter
1
2
3
4
5
6
7
Sequences in halo orbit insertion & station keeping operations
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Halo Orbit Targeting methods using STK/Astrogator
Initial Earth-circular orbit and Halo orbit
insertion at Sun-Earth L2 Lagrangian point
trajectory ( as seen in VO view)
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Halo Orbit Targeting methods using STK/Astrogator
Halo orbit at Sun-Earth L2 Lagrangian point
trajectory as seen in X-Z plane (Map View)
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Halo Orbit Targeting methods using STK/Astrogator
Halo orbit at Sun-Earth L2 Lagrangian point
in Sun-Earth rotating frame of reference as
seen in X-Y plane
Interplanetary trajectory from Sun-Earth L2
to Sun-Mars L2 in Sun-centered inertial
frame of reference as seen in X-Y plane
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Results
1. Earth Departure: 2007/8/1

2. Halo Orbit Insertion at Sun Earth L2 Lagrangian point
Duration: 14.5 days (approx.)
V: 3.170804 km/s ( approx.)

3. Transfer from Sun Earth L2 to Mars
Duration: 955 days (approx.)
V :1.0318345 km/s
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Result Review
Flight Time 210 Days
Total Delta V 14.3 km/s
Flight Time 182 Days
Total Delta V 4.68km/s
Hohmann Transfer
Gravity Assisted Transfer
HaloHopping Transfer
Flight Time 969 Days
Total Delta V 4.2km/s
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Conculsion 1
Planets do not eclipse the spacecraft as seen in Y-Z plane
Small V budget for station-keeping operations for halo orbit
around Sun-Planet L2 Lagrangian point
Halo orbit hopping method is slower than gravity assisted
trajectory method (approximately 5 times slower)
Saving of fuel by over 10% over gravity assisted trajectory method
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Conclusion 2
Continuous radio contact with Earth
Simultaneous mapping of the planets possible
Potential utility of placing satellites orbiting L2 and L1
Lagrangian points serving as Earth-Moon and Earth-Mars
communication relays
Method suitable for spacecrafts only, not for manned
missions
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Questions ?
15th AAS/AIAA Space Flight Mechanics
Meeting, Copper Mountain, Colorado
Thank you !!