Astronomy & Celestial Mechanics
the sky, computed
Concept

Oberth effect — where it appears

The greater orbital energy bought by burning where the vehicle is already moving fast, since the energy gained goes as the product of the two speeds. It is why a departure burn is made at the lowest point of an orbit, and it is what a continuous low-thrust spiral throws away by burning everywhere at once.

Named by 17 essays across 2 fields — each of them below, with the objects they name alongside it.

The energy budget of an orbit at e = 0.7. Kinetic, potential and total energy per unit mass against distance from the primary, in units where GM = 1. The total is a horizontal line — it depends only on the semi-major axis — and the vis-viva relation is that statement solved for the speed.

One equation for the speed anywhere, and the eccentricity is not in it

The vis-viva relation gives the speed at any point of any orbit from two numbers. What it leaves out is the surprise — the shape of the orbit does not appear at all.

orbits · Vis-viva The same thrust is worth 2.08 times more at perigee, and out of plane it is worth nothing at all. The rate of change of the semi-major axis under a unit acceleration in each of the three directions, against position around an orbit of eccentricity 0.35, from Gauss's variational equations. The along-track curve carries the factor p/r = 1 + e cos f and therefore peaks at perigee, where the same impulse is worth 2.08 times what it is worth at apogee — the whole of the Oberth effect, arriving as a term in a differential equation rather than as an argument about kinetic energy. The radial curve is antisymmetric about apoapsis and integrates to exactly zero over a revolution: pushing outwards for half an orbit and being pushed back for the other half changes the energy by nothing, which is checked here by quadrature and comes out at -9.0e-18. And the out-of-plane response is identically zero at every point of the orbit, because W is perpendicular to the velocity and does no work. An orbital plane can be rotated without touching the energy, and that is why a plane change is so expensive: none of what is spent goes anywhere useful.

Which direction moves which element

Resolve a small force into three components and Gauss's equations say exactly what each one does. The out-of-plane component can rotate an orbit and can never change its energy; the along-track component owns the semi-major axis outright and is worth more at perigee than at apogee by a factor that is pure geometry.

orbits · Perturbations A Hohmann transfer, 2.6 to 1 in radius. Two circular orbits and the ellipse that touches both. The first burn raises the far point to the outer orbit; the second, half an orbit later, circularises. The costs are computed from the vis-viva relation.

The cheapest way between two orbits, and why it is so slow

Two burns and a long coast is the least fuel that will move a spacecraft between two circular orbits. It is also, for anything beyond the Moon, an unreasonably long wait.

spaceflight · Orbital transfer Circular and escape speed. Orbital and escape speed against distance, in units of the circular speed at the surface. The escape curve is the circular one multiplied by the square root of two, at every distance without exception.

The speed that does not come back, and the √2 that separates it

Escape speed is exactly the square root of two times circular speed, at every distance from every body. Being in orbit is already 71% of the way to leaving.

spaceflight · Escape A gravity assist with a 70° turn. The velocity triangle of a flyby. In the planet's frame the spacecraft's speed is unchanged and only its direction turns; adding the planet's own velocity converts that turn into a gain in speed measured from the Sun.

Stealing speed from a planet, which does not notice

A flyby cannot change a spacecraft's speed relative to the planet. It changes its direction — and adding the planet's own motion back turns that into free velocity.

spaceflight · Gravity assist How much of a rocket has to be propellant. Propellant fraction against the velocity change bought, for three real propellant combinations. The curves approach 1 and cannot reach it, so every extra kilometre per second costs a larger share of what remains — which is why staging exists.

The exponential that decides what can be flown

A rocket carries its own reaction mass, so every kilogram of propellant has to be accelerated by the propellant beneath it. The result is exponential, and it is the reason spaceflight is hard.

spaceflight · Rocket equation Total Δv against the radius ratio. Total transfer Δv, in units of the starting circular speed, against the ratio of the two circular radii. The Hohmann transfer is cheapest at small ratios; the bi-elliptic transfers overtake it, and the limiting one — an intermediate apoapsis taken to infinity — crosses at a ratio of 11.94. Above about 15.6 every bi-elliptic transfer beats the Hohmann.

Going too far in order to arrive cheaply

The Hohmann transfer is the cheapest two-burn route between circular orbits. Past a radius ratio of 11.94 the cheapest route is three burns, and it goes far beyond the destination first.

spaceflight · Orbital transfer What a 1 km/s burn is worth, against where it is spent. A vehicle arriving at Jupiter with an excess speed of 5.6 km/s, burning 1 km/s along its velocity at one point of the hyperbola. The vertical axis is the excess speed it leaves with. Spent at the surface the burn is worth 12.33 km/s of departure speed; spent far away it is worth 7.20. The energy bought is v·Δv, so the same propellant is worth 5.9 times as much at the bottom of the well — and nothing about the rocket has changed.

The same burn is worth more when moving fast

A rocket firing for ten seconds delivers the same change of speed wherever it is. It does not deliver the same change of energy, because energy is quadratic in speed — so the identical burn buys six times as much at the bottom of a gravity well as at the top, and every escape manoeuvre ever flown is arranged around that fact.

spaceflight · Vis-viva What 28.5° of plane change costs, at three orbital speeds. The cost of rotating an orbital plane, 2v sin(Δi/2), against the angle turned, for the three speeds a transfer to geostationary orbit passes through: 7.669 km/s in a 400 km circular orbit, 3.075 km/s once circular at 42,164 km, and 1.618 km/s at the apogee of the ellipse between them. All three are √(μ/r) or vis-viva at μ⊕ = 398,600 km³/s². A 28.5° turn therefore costs 3.775, 1.514 or 0.797 km/s depending only on where it is done — the apogee figure is 21% of the low one, and that fraction is the speed ratio, so it is the same at every angle. Past 23.9° a turn in the low orbit costs more than the 3.176 km/s that leaves Earth from it, and a full reversal costs 2v = 15.34 km/s, 4.8 times the escape burn.

The cheapest place to turn

Rotating an orbital plane costs 2v sin(Δi/2), and the only quantity in that expression that a mission controls is the speed. Where the turn is made therefore matters more than how far it turns.

spaceflight · Plane change 20% more Δv, spread over 26 revolutions. A continuous tangential thrust from a circular orbit of radius 1 to one of radius 6.611, integrated from dr/dt = 2r·a_T/v with the primary's GM set to 1. The spiral costs |v₁ − v₂| = 0.6111 in units of the inner circular speed, against 0.5076 for the two-impulse Hohmann drawn on the same pair of circles — 20.4% dearer, and the excess is exactly the Oberth advantage the impulsive transfer collects by burning where the vehicle is moving fastest and the spiral throws away by burning everywhere. The revolution count follows from the thrust level and nothing else, and the count drawn here is not a real one: 26 revolutions at an acceleration of 0.0015 of the inner orbit's own gravity, chosen so that the spiral can be seen at all. A real electric transfer runs nearer 3·10⁻⁵, which is 1,296 revolutions of a curve no page could resolve. Halving the thrust doubles both the turns and the time and leaves the Δv exactly where it is. That separation is the whole reason low thrust is flown at all — the Δv is worse and the propellant is not, because the exponential in the rocket equation is over Δv/(g₀Isp) and an electric engine's Isp is the larger number by more than this 20%.

The transfer that costs more the gentler it is

A continuous spiral from low orbit to geostationary needs a fifth more velocity change than the two-burn transfer, because the thrust is never at the one place it is worth most. It is flown anyway, and by a wide margin — because the exponential in the rocket equation changed sides.

spaceflight · Low-thrust transfer One square root that raises the orbit and turns it. The velocity budget from a 300 km circular orbit to geostationary, against the plane change carried out along the way. Edelbaum's closed form — √(v₁² + v₂² − 2v₁v₂cos(½πΔi)) with Δi in radians — puts the whole continuous manoeuvre in one square root, and at Δi = 0 it collapses to |v₁ − v₂| = 4.651 km/s, which is the spiral's cost with no plane change in it. The two-impulse curve puts its rotation into the circularisation burn at apoapsis, where the vehicle is moving at 1.608 km/s and a rotation is cheap. At 28.5° the continuous transfer costs 5.951 km/s against the impulsive 4.256 — the plane change adds 1.300 to one and 0.363 to the other. That is the opposite of the usual claim that low thrust turns for free. It turns continuously, which is not the same thing: the gain is that the propellant is not the budget, and the Δv is worse here as it is everywhere else.

One square root that raises the orbit and turns it

Edelbaum put the plane change inside the same radical as the raise, and the half-pi in its cosine is the whole result — a continuous turn costs π/2 times an impulsive one below 140° and less above it.

spaceflight · Low-thrust transfer The cheapest circular orbit to stop in at Mars is not the lowest. The speed change needed to capture into a circular orbit round Mars, in km/s, against the orbit's radius in Mars radii, for arrival excesses of 2.65, 4, 6 km/s — the first being a minimum-energy transfer from the Earth. One burn at periapsis, where the spacecraft is fastest, turns the hyperbola into the circle. The cost has a minimum, at a radius of 2μ/v∞² from the planet's centre, where it is exactly v∞/√2: 3.6 radii and 1.87 km/s for 2.65 km/s; 1.6 radii and 2.83 km/s for 4 km/s; 0.7 radii and 4.24 km/s for 6 km/s. Lower orbits cost more because the circular speed there is higher than the gain from arriving deeper in the well; higher orbits cost more because the burn is made where the spacecraft is moving slowly and the Oberth effect is lost. A faster arrival moves the optimum inward, and at a large enough excess it moves below the planet's surface, where every circular orbit is on the expensive side of the minimum.

The cheapest circle to stop in

A spacecraft arriving at a planet has to lose speed to stay, and the cheapest circular orbit to lose it into is not the lowest. It sits at a radius set only by the arrival speed — twice the planet's gravitational parameter divided by the square of the excess — where the braking costs exactly the excess divided by the square root of two. Most orbiters want something else, and the arithmetic of what they do instead decides which planets are cheap to stop at and which are not.

spaceflight · Escape What it costs to reach Mars faster than the Hohmann transfer. The total velocity change to go from a 400 km orbit round the Earth to a 400 km circular orbit round Mars (solid), and the heliocentric part alone (dashed), against flight time, for transfers that leave the Earth's orbit tangentially and cross Mars's before reaching their far point; both planets are on circular, coplanar orbits. The right-hand end is the Hohmann transfer: 259 days and 5.65 km/s. Shortening it to 200 days costs 0.82 km/s more; to 150 days, 3.4 km/s more; below a hundred days the cost climbs past twenty. The curve leaves the Hohmann point with zero slope — the cheapest transfer is a minimum, so the first days saved cost almost nothing — and turns steeply upward only once the transfer ellipse has become long and thin. For the fastest transfers the orbit-to-orbit cost is below the heliocentric one, because a burn made deep in a planet's gravity well adds more to the speed at which the craft leaves it than the burn itself.

The first weeks off a Hohmann transfer are nearly free

The Hohmann transfer to Mars takes 259 days and is the cheapest route there is. Because it is a minimum, the cost of going faster starts flat — ten days saved costs twenty metres a second — and only climbs steeply once weeks have become months. For a crew, the time is itself a cost, paid in radiation at about two millisieverts a day.

spaceflight · Orbital transfer Propellant a moon saves, against how close the flyby comes. The reduction in the Jupiter orbit-insertion burn bought by one flyby of a Galilean moon on the way in, in metres per second, against the flyby altitude, for an arrival at 5.6 km/s, a periapsis of five Jupiter radii and a capture orbit of 200 days, whose insertion alone costs 825 m/s. At 300 km: Io 268 m/s, Europa 122 m/s, Ganymede 191 m/s, Callisto 124 m/s. The saving falls with altitude because the turn angle does, roughly as one over the flyby distance once that is well above the moon's surface. Io saves most: it is deep in Jupiter's well, where it moves fastest, so a given turn of the relative velocity takes more energy from the spacecraft. Ganymede, the most massive, is second.

Braking on a moon before braking with the engine

A gravity assist is usually told as a way to gain speed, but the same exchange runs the other way. A spacecraft falling toward Jupiter can pass behind one of its moons on the way in, lose a few hundred metres per second of its speed to the moon's orbit, and arrive at its capture burn needing a fifth less propellant. Which moon brakes best depends on three things at once — its mass, how fast it is met and how fast it moves — and the best one sits in radiation no spacecraft wants to fly through.

spaceflight · Gravity assist What a departure loses to taking time. The gravity loss of a departure burn — the velocity a rocket spends beyond what an instantaneous impulse would need — against its initial thrust-to-weight ratio, on logarithmic axes, for departures from a 300-km orbit to hyperbolic excess speeds of 0.5, 3, 6 km/s, an exhaust speed of 4.41 km/s and thrust held along the velocity. The impulsive costs are 3.21, 3.60, 4.74 km/s. At a thrust-to-weight of 1.2 the losses are 4, 5, 11 m/s; at 0.1, 298, 396, 708; at 0.03, 1485, 1785, 2546. For a stage of high thrust the loss falls as about the inverse square of the thrust (slope -1.98 at the high end), because the burn arc shrinks in proportion and the loss grows as the square of the arc.

A burn that cannot happen at one point

Every transfer cost in orbital mechanics is computed as though the engine fired for an instant. A real departure burn runs for minutes or hours, and the vehicle travels a long arc while it does — climbing, slowing, and delivering thrust ever further from the point where it would have done the most good. The extra velocity that costs is the gravity loss, and it grows as the square of the arc: negligible for a strong stage, ruinous for a weak one, and recoverable by splitting the burn at the price of time.

spaceflight · Orbital transfer The propellant a long departure burn wastes, under three ways of pointing it. The gravity loss of a departure from a 300-km orbit to a hyperbolic excess speed of 3 km/s with an exhaust speed of 4.41 km/s, against the stage's initial thrust-to-weight ratio, both logarithmic, for thrust held along the velocity (orange), held fixed in space at the best direction (gold) and turned at the best constant rate (blue). At a thrust-to-weight of 0.05: 1264 m/s, 3597 m/s and 1521 m/s. At 0.2: 166 m/s, 328 m/s and 154 m/s. At 0.8: 12 m/s, 20 m/s and 10 m/s. No one of the three is best everywhere. For burns of a few minutes to half an hour the constant-rate turn beats following the velocity by up to a tenth; for the longest burns, which sweep most of an orbit, following the velocity wins, because the direction that does most good turns faster as the vehicle gains speed and no constant rate keeps up. A fixed attitude, the simplest to fly, costs 88 per cent more than the best turn even for the strongest stage drawn, and several times more for weak ones. The true optimum, which no simple family contains, lies below all three and is computed numerically for each mission.

No single way to point a long burn

A departure burn that lasts tens of minutes wastes propellant because it cannot all happen at the lowest, fastest point of the orbit, and how much it wastes depends on where the engine points while it runs. Three simple rules — follow the velocity, hold one direction in space, turn at a steady rate — are each best somewhere and none everywhere. A steady turn saves up to a tenth for burns of minutes; following the velocity wins for burns that last most of an orbit; holding still costs twice as much as either.

spaceflight · Orbital transfer Two arrivals with the same weak thruster. Two spacecraft entering Mars's sphere of influence (outer circle, 577 thousand km) from the right, each thrusting continuously against its velocity at 0.3 mm s⁻² — about what an electric thruster gives a spacecraft of a few tonnes — and aimed to pass 6 planetary radii from the centre. Arriving at 0.40 km/s (blue), the thrust removes the excess while the craft crosses the sphere: it is captured 10 days after entry, having spent 268 m/s, on an orbit whose apoapsis lies inside the sphere, where the planet rather than the Sun keeps it, and the drawn path follows the same thrust winding it inward until it is within one and a half planetary radii. Arriving at 0.80 km/s (orange), it passes through on a bent hyperbola and leaves again: the thrust had too little time, and too little leverage, to remove an excess twice as large.

A thruster that must arrive slow

A rocket arriving at a planet stops by burning hard at the bottom of the gravity well, where every metre a second it spends removes the most energy. An electric thruster cannot burn hard anywhere. It can capture only arrivals slower than a few hundred metres a second, so it has to arrive with almost no excess at all — and then it pays the full circular speed of its final orbit to spiral down, two and a half times what a burn from the same start would cost, because a spiral spends its thrust at every speed on the way rather than at the highest one.

spaceflight · Escape

Named alongside it

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

ΔvGravity assistHohmann transferVis-vivaEscape velocityHyperbolic excess speedGravity lossOrbital energyPatched conicsSpecific impulseElectric propulsionLow-thrust transfer

All concepts