Astronomy & Celestial Mechanics
the sky, computed
Concept

Elevation mask — where it appears

The lowest angle above the horizon at which a ground station can use a satellite, set by terrain, buildings and the extra air at low angles. Raising it shrinks the circle of ground a satellite serves, and with it grows the number of satellites a constellation needs.

Named by 4 essays across one field — each of them below, with the objects they name alongside it.

How far across the ground a satellite can be seen from, at 0, 10, 30° masks. The footprint of a satellite — the largest angle at the Earth's centre between the point beneath it and a station that can still see it above an elevation mask — against altitude, on a logarithmic axis. λ = arccos(R cos ε / (R + h)) − ε. At low altitude it grows as the square root of the height, λ ≈ √(2h/R), drawn dashed for the horizon mask, so doubling a low orbit's altitude widens its footprint by only about forty per cent; far out it saturates, and no altitude sees past 90° − ε. At 420 km (a space station) the 0° footprint is 20.2°, a circle 2,254 km in radius holding 3.1 per cent of the Earth's surface. At 20,180 km (a navigation satellite) the 0° footprint is 76.1°, a circle 8,472 km in radius holding 38.0 per cent of the Earth's surface. At 35,786 km (geostationary) the 0° footprint is 81.3°, a circle 9,050 km in radius holding 42.4 per cent of the Earth's surface. Raising the mask costs most at low altitude: at 420 km a 10° mask takes 38 per cent off the footprint's radius and 62 per cent off its area, because most of what a low satellite could see is near the horizon, while at 35,786 km the same mask takes 20 per cent of the area.

The circle a station can see

A ground station can talk to a satellite only while the satellite is above its horizon, and the region it can do that from is a circle drawn round the point beneath the spacecraft. The circle grows as the square root of the altitude and then stops growing, the time spent inside it diverges at one altitude, and the stations that get the most contact are not where anyone would first put them.

spaceflight · Ground tracks A 5/5/1 constellation at one instant: where no satellite is above 0°. The points beneath the 5 satellites of a 5/5/1 Walker delta pattern at 43.5°, at 11,605 km, at one instant, with each satellite's 0° footprint — a circle 69.2° in radius at the Earth's centre — drawn round it, on an equirectangular map that swells the circles towards the poles. The shaded cells are ground with no satellite above the mask: none at this instant. Everywhere else is seen by between 1 and 3 at once. The largest empty circle at this instant is 67.6° in radius, computed exactly from the satellites' directions, inside the footprint, which is why there are none.

Five satellites and not four

No single orbit keeps a satellite above every point on the Earth. How many are needed is a question about the largest empty circle among their directions at the worst instant, and it has sharp answers. Four can never do it, five can from 11,605 kilometres up, and past that the arrangement of the orbits matters as much as their number.

spaceflight · Ground tracks Four satellites, and which four. Two sets of four navigation satellites seen on the sky from below, zenith at the centre and the horizon at the rim, with circles at 30° and 60° elevation. Left: one overhead and three low and spread around the horizon. Right: four bunched in one part of the sky. Each set fixes a position, and the error it leaves is the range error multiplied by the dilution of precision — 2.0 for the spread set, 62.0 for the bunched one. The same four range measurements, made with the same precision, give positions 31 times more uncertain when the satellites are bunched.

Four satellites in view, and which four

A satellite navigation receiver needs four satellites to fix its position, and a constellation is designed to keep at least four above every place. Four is the count, not the answer. The same four ranges, measured equally well, give a position thirty times worse when the satellites are bunched in one part of the sky than when they are spread around it, and the constellations carry their extra satellites to pay for the moments when the geometry, not the count, fails.

spaceflight · Ground tracks 6 satellites over the Moon's south pole. The horizontal (solid) and vertical (dashed) dilution of precision for a receiver near the Moon's south pole over 48 hours, with 6 satellites in elliptical frozen orbits — semi-major axis 6541.4 km, eccentricity 0.6, inclination 56.2°, apolune over the south pole, each in its own plane — and a 5° horizon mask, logarithmic. Gaps are times with fewer than four satellites in view, when no fix is possible: 28 per cent of the time. When there is a fix, the horizontal geometry is good — median HDOP 1.7 — and the vertical is bad, median VDOP 6: the satellites near apolune all stand at much the same elevation, and a receiver cannot tell whether every range is long because it is lower or because its clock is late.

A height the map already knows

A navigation service for the Moon's south pole needs only a handful of satellites, if they are put in elliptical orbits that hang for hours over the pole at the high point of each lap. But satellites hanging over a pole all stand at much the same height in the sky, on a cone, and four ranges from a cone cannot tell whether the receiver is lower or its clock is late. On the surface the receiver knows its height already, from a map of the terrain — and that one number, used as a measurement, does more for the service than two more satellites.

spaceflight · Ground tracks

Named alongside it

The objects these essays reach for when they reach for this one.

Clock biasCoverageDilution of precisionFootprintGeometry matrixGround trackInclinationLeast-squaresSatellite navigationWalker constellationContinuous coverageCovering radius

All concepts