Ground tracks — the series · Astronomy & Celestial Mechanics

three revolutions, on a turning Earth. The ground track of a circular orbit at 420 km and 51.64° inclination, over 3 revolutions, on an equirectangular graticule. The latitude is a sine wave bounded by ±51.64° exactly — sin φ = sin i sin u, so the inclination is the highest latitude the orbit ever passes over, and it is reached twice per revolution. Each successive pass is displaced west by (ω⊕ − Ω̇) × 92.90 min = 23.61°, of which 0.32° is the orbital plane's own regression and the rest is the planet turning underneath: the vehicle comes back to nearly the same place in inertial space and the place has moved. The period used is the nodal one, 92.899 min against the Keplerian 92.970: J₂ makes the two differ by 4.31 s, which is 0.018° of walk per revolution and 102° in a year — the difference between a repeat track and a track that used to repeat. The map is equirectangular and therefore wrong about area everywhere; what it is right about is longitude difference, which is the whole of what this figure measures.

The line under a satellite

A ground track is an orbit seen from a frame that is turning, so every pass lands west of the last one. The track closes only when two periods are commensurable — which turns "look at the same place every day" into a condition on the altitude.

part 1 · spaceflight

15 revolutions of a 185 km swath. The band an instrument 185 km wide sweeps over 15 revolutions of a 233/16 repeat orbit at 98.2° and 699.6 km, drawn on an equirectangular map. Each band's edges are placed 92.5 km either side of the track on the sphere, so the bands really are the same width everywhere and only look wider towards the poles because this projection stretches longitude by 1/cos φ. Successive passes are 24.72° of longitude apart, and across the track at the equator that is 2691 km — so neighbouring passes leave strips about 2,506 km wide unimaged between them at the equator, while near ±82° the same bands lie on top of one another many times over. Filling the tropical strips is what the rest of the 16-day cycle is for.

A swath is sized at the equator

An imaging satellite's tracks crowd together towards the poles and spread apart towards the equator, so whether a swath leaves gaps is settled at the equator and nowhere else. The order in which a repeat cycle then closes those gaps is not orbital mechanics at all. It is a theorem about points on a circle.

part 2 · spaceflight

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.

part 3 · spaceflight

The figure of eight a geosynchronous orbit draws at 5°, 15°, 30° of inclination. The ground track over one sidereal day of a circular orbit whose period is exactly a sidereal day, at inclinations of 5, 15, 30°, centred on its own mean longitude. It is not a point. The latitude swings to ±i and back twice a day, and the longitude falls behind and then runs ahead of the Earth's rotation, because the rate at which an inclined orbit gains longitude is u̇ cos i / cos²φ: slowest at the nodes, where part of the motion is north–south, and fastest at the extremes of latitude, where all of it is eastward and a degree of longitude is shorter — so the track closes as a figure of eight. Its half-width in longitude is ±0.109° at 5°, ±0.993° at 15°, ±4.117° at 30° — exactly arcsin(tan²(i/2)) — against the small-inclination form i²/4 = ±0.109°, ±0.982°, ±3.927°: quadratic in the inclination, so the eight is tall and very thin. The longitude axis is stretched 8 times relative to the latitude axis, and without that stretch every one of these curves would be drawn as a vertical line. This is why a few degrees of inclination, which a geostationary operator spends most of its propellant preventing, moves the satellite a long way north and south and almost not at all east and west.

A stationary satellite that draws a figure of eight

A satellite with a period of exactly one sidereal day returns over the same ground every day, but only an orbit in the equator with no eccentricity returns over a single point. A few degrees of tilt draw a figure of eight, a little eccentricity a swing in longitude, and the two together draw the figure the Sun draws in the sky over a year.

part 4 · spaceflight

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.

part 5 · spaceflight

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.

part 6 · spaceflight

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.

part 7 · spaceflight