Kepler elements Cartesian position and velocity

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Problem: Given 6 Kepler elements (a, e, I, , , M ), nd the corresponding inertial position r and velocity r. Solution (Kaula,1966): First get the eccentric anomaly E from the mean anomaly M by iteratively solving Keplers equation: E e sin E = M Ei+1 = e sin Ei + M , with starting value E0 = M (1)

Next, get the position and the velocity in the q-frame, which has its z-axis perpendicular to the orbital plane and its x-axis pointing to the perigee: a(cos E e) sin E na 2 sin E , q = q = a 1e 1 e2 cos E 1 e cos E 0 0

(2)

In case the true anomaly is given in the original problem instead of the mean anomaly M , the vectors q and q are obtained by: sin r cos na q = r sin , q = e + cos 1 e2 0 0 with

(3)

a(1 e2 ) (4) 1 + e cos The transformation from inertial frame to the q-frame is performed by the rotation sequence R3 ()R1 (I)R3 (). So, vice versa, the inertial position and velocity are obtained by the reverse transformations: r= r = R3 ()R1 (I)R3 ()q r = R3 ()R1 (I)R3 ()q (5) (6)

Cartesian position and velocity Kepler elements

Problem: Given a satellites inertial position r and velocity r, nd the corresponding Kepler elements (a, e, I, , , M ). Solution (Kaula,1966): The angular momentum vector per unit mass is normal to the orbital plane. It denes the inclination I and right ascension of the ascending node : h = rr h1 tan = h2 h2 + h2 1 2 tan I = h3 Rotate r into the p-frame in the orbital plane now and derive the argument of latitude u: p = R1 (I)R3 ()r p2 tan u = tan( + ) = p1 (7) (8) (9)

(10) (11)

The semi-major axis a comes from the total energy and requires the scalar velocity v = |r|. The eccentricity e needs the scalar angular momentum h = |h|: v 2 GM GM = (12) 2 r 2a GM r a = (13) 2GM rv 2 h2 (14) e = 1 GM a In order to extract the eccentric anomaly E, we need to know the radial velocity rst: rr r = (15) r ar cos E = (16) ae rr sin E = (17) e GM a The true anomaly is obtained from the eccentric one: 1 e2 sin E (18) tan = cos E e Subtracting from the argument of latitude u yields the argument of perigee . Finally, Keplers equation provides the mean anomaly: T V = E e sin E = M (19)