Design of a Multi-Moon Orbiter
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C A L T E C H ¢¡¤£¦¥§ ©¨ £¦ C Dynamical S Design of a Multi-Moon Orbiter Shane D. Ross Control and Dynamical Systems and JPL, Caltech W.S. Koon, M.W. Lo, J.E. Marsden AAS/AIAA Space Flight Mechanics Meeting Ponce, Puerto Rico February 9-13, 2003 Interplanetary Mission Design Use natural dynamics for fuel efficiency Dynamical channels connect planets and moons. Trajectory generation using invariant manifolds in the 3-body problem suggests new numerical algorithms for interplanetary missions Current research importance Design fuel efficient interplanetary trajectories (1) Multi-Moon Orbiter to multiple Jovian moons (2) Earth orbit to lunar orbit 2 Mission to Europa Motivation: Oceans and life on Europa? There is international interest in sending a scientific spacecraft to orbit and study Europa. 3 Multi-Moon Orbiter Orbit each moon in a single mission Other Jovian moons are also worthy of study • All may have oceans, evidence from Galileo suggests 5 Multi-Moon Orbiter We propose a trajectory design procedure which uses lit- tle fuel and allows a single spacecraft to orbit mul- tiple moons Orbit each moon for much longer than the quick flybys of previous missions Using a standard “patched-conics” approach, the ∆V necessary would be prohibitively high By decomposing the N-body problem into 3-body prob- lems and using the natural dynamics of the 3-body prob- lem, the ∆V can be lowered significantly 6 Multi-Moon Orbiter First attempt: A Ganymede-Europa Orbiter was constructed • ∆V of 1400 m/s was half the Hohmann transfer • G´omez,Koon, Lo, Marsden, Masdemont, and Ross [2001] Ganymede's orbit Maneuver Jupiter performed Europa's orbit z 1.5 1 0.5 0 1.5 y 1 -0. 5 0.5 0 -1 -0. 5 -1 x -1. 5 -1. 5 Injection into (a) high inclination Close approach orbit around Europa to Ganymede 0.02 0.01 0.015 0.01 0.005 0.005 0 z z 0 -0.005 -0.01 -0.005 -0.015 -0.02 -0.01 0.02 1.02 0.01 1.01 0.01 0.99 0.005 0 1 0.995 0 1 x -0.005 y y -0.01 0.99 1.005 x 1.01 -0.01 -0.02 0.98 (b) (c) 7 Multi-Moon Orbiter—Refinement • Preceding ∆V of 1400 m/s for the Ganymede-Europa or- biter was half the Hohmann transfer (that is, using patched conics, as in manned moon missions) • Desirable to decrease ∆V further—one now does not di- rectly “tube-hop”, but rather makes more refined use of the phase space structure • New things: resonant gravity assists with the moons • Interesting: still fits well with the tube-hopping method 32 Multi-Moon Orbiter Second attempt: Desirable to decrease ∆V further One can consider using resonant gravity assists with the moons, leading to ballistic captures Consider the following tour of Jupiter’s moons • Begin in an eccentric orbit with perijove at Callisto’s orbit, achievable using a patched-conics trajectory from the Earth to Jupiter • Orbit Callisto, Ganymede, and Europa 8 Multi-Moon Orbiter ∆V = 22 m/s, but flight time is a few years Low Energy Tour of Jupiter's Moons Seen in Jovicentric Inertial Frame Callisto Ganymede Europa Jupiter 9 Multi-Moon Orbiter Results are promising This result is preliminary • Model is a restricted bicircular 5-body problem • A user-assisted algorithm was necessary to produce it • An automated algorithm is a future goal Future challenges • The flight time is too long; should be reduced below 18 months • Evidence to be presented later in this talk suggests that a significant decrease in flight time can be gained for a modest increase in ∆V • Radiation dose is not accounted for; will be included in future models 10 Construction Procedure Building blocks Patched three-body model: linking two adjacent three-body systems Inter-moon transfer: decreasing Jovian energy via resonant gravity assists Orbiting each moon: ballistic capture and escape Small impulsive manuevers: to steer spacecraft in sensitive phase space We will give some background on these issues 11 Inter-Moon Transfer Spacecraft gets a gravity assist from outer moon M1 when it passes through apoapse if near a resonance When periapse close to inner moon M2’s orbit is reached, it takes “control”; this occurs for ellipse E Leaving moon M1 Approaching moon M2 Apoapse A fixed Periapse P fixed 15 Inter-Moon Transfer Small impulsive maneuvers are performed at opposition Exterior Realm Semimajor Axis vs. Time Forbidden Realm ∆a+ S/C J L1 M L2 Interior Realm ∆a- Spacecraft Maneuvers Performed When Opposite Moon ∆a- Moon Realm ∆a+ 16 Inter-Moon Transfer The transfer between three-body systems occurs when energy surfaces intersect; can be seen on semimajor axis vs. eccentricity diagram (similar to Tisserand curves of Longuski et al.) Spacecraft jumping between resonances on the way to Europa 0.3 Spacecraft path 0.25 0.2 0.15 eccentricity 0.1 Curves of Constant 0.05 3−Body Energy within each system 0 E G C 1 1.5 2 2.5 3 3.5 4 semimajor axis (a = 1) Europa 17 Ballistic Capture An L2 orbit manifold tube leading to ballistic capture around a moon is shown schematically Escape is the time reverse of ballistic capture 18 Why Does It Work? Recall the planar circular restricted three-body problem: motion of a spacecraft in the gravitational field of two larger bodies in circular motion. • View in rotating frame =⇒ constant energy E Forbidden Realm (at a particular energy level) Exterior Realm L1 L2 Poincare section Interior (Jupiter) Realm spacecraft Moon Realm Rotating frame: different realms of motion at energy E. 19 Poincar´eSurface of Section Study Poincar´esurface of section at fixed energy E, reducing system to a 2-dimensional area preserving map. z P(z) Poincar´esurface of section 20 Poincar´eSurface of Section Poincar´esection reveals mixed phase space structure: KAM tori and a “chaotic sea” are visible. Identify ) 1 = ne u t p e N s ( i x or A j ma i m e S Argument of Periapse (radians) Poincar´esurface of section 21 Transport in Poincar´eSection Phase space divided into regions Ri, i = 1, ..., NR bounded by segments of stable and unstable manifolds of unstable fixed points. p1 R2 q4 q1 R3 q2 R1 q3 B12 = U [p2 ,q2] U S [p1 ,q2] p2 q5 p3 R4 R5 q6 22 Lobe Dynamics Transport btwn regions computed via lobe dynamics. L2,1(1) R2 q0 f (L1,2(1)) q1 -1 f (q0) L1,2(1) pj pi f (L2,1(1)) R1 23 Movement btwn Resonances We can compute manifolds which naturally divide the phase space into resonance regions. Identify s i x or A j ma i m e S Argument of Periapse Unstable and stable manifolds in red and green, resp. 24 Movement btwn Resonances Transport and mixing between regions can be computed. Identify R3 s i x or A j R2 ma i m e S R1 Argument of Periapse Four sequences of color coded lobes are shown. 25 Movement btwn Resonances Navigation from one resonance to another, essential for the Multi-Moon Orbiter, can be performed. Identify Resonance R Region B 3 is x } A r o j a m i R 2 m e S } Resonance R Region A } 1 Argument of Periapse 26 Resonances and Tubes Resonances and tubes are linked It has been observed that the tubes of capture (resp., escape) orbits are coming from (resp., going to) cer- tain resonances. Resonances are a function of energy E and the mass parameter µ Koon, Lo, Marsden, Ross [2001] 27 Earth to Moon Trajectories Similar methods can be applied to near-Earth space to study the ∆V verses time trade-off 68 Earth to Moon Trajectories Results: much shorter transfer times than previous authors for only slightly more ∆V Trajectories from a circular Earth orbit (r=59669 km) to a stable lunar orbit 1300 Hohmann transfer ∆V = 1220 m/s 1200 TOF = 6.6 days 1100 1000 V (m/s) ∆ 900 Present Work 800 Bollt & Meiss [1995] Schroer & Ott [1997] 700 0 100 200 300 400 500 600 700 800 Time of Flight (days) 39 Earth to Moon Trajectories Compare with Bollt and Meiss [1995] • A tenth of the time for only 100 m/s more Current Result Bollt and Meiss [1995] 65 days, ∆V = 860 m/s 748 days, ∆V = 750 m/s TOF = 65 days ∆V = 860 m/s 1 Day Tick Marks Earth Moon 40 e.g., GEO to Lunar Orbit GEO to Moon Orbit Transfer Seen in Geocentric Inertial Frame TOF = 63 days ∆V = 1211 m/s 1 Day Tick Marks Moon's Earth Orbit 41 References • Trade-Off Between Fuel and Time Optimization, in preparation. • Koon, W.S., M.W. Lo, J.E. Marsden and S.D. Ross [2002] Constructing a low energy transfer between Jovian moons. Contemporary Mathematics 292, 129–145. • G´omez,G., W.S. Koon, M.W. Lo, J.E. Marsden, J. Masdemont and S.D. Ross [2001] Invariant manifolds, the spatial three-body problem and space mission design. AAS/AIAA Astrodynamics Specialist Conference. • Koon, W.S., M.W. Lo, J.E. Marsden & S.D. Ross [2001] Resonance and capture of Jupiter comets. Celestial Mechanics & Dynamical Astronomy 81(1-2), 27–38. • Koon, W.S., M.W. Lo, J.E. Marsden and S.D. Ross [2000] Heteroclinic con- nections between periodic orbits and resonance transitions in celes- tial mechanics. Chaos 10(2), 427–469. For papers, movies, etc., visit the websites: http://www.cds.caltech.edu/∼marsden http://www.cds.caltech.edu/∼shane 27.