Spacecraft Dynamics and Control

Matthew M. Peet
Arizona State University

Lecture 7: Converting to/from ~r and ~v

Introduction

In this Lecture, you will learn:

How to convert between

• a, e, i, Ω, ω, f
• ~
r and ~v

How to translate ~r and ~v into pointing data for telescope/radio

• Right Ascension
• Declination
• Tracking

M. Peet Lecture 7: Spacecraft Dynamics 2 / 37

Moving the Orbit Forward in Time (Propagation)

Question: If I observe a satellite at 12:00 at position ~r with velocity ~v , where

will it be at time 15:00?

3 Steps
1. Calculate the orbital elements at 12:00
2. Determine f at 15:00.
3. Convert orbital elements to ~r and ~v at 15:00.

M. Peet Lecture 7: Spacecraft Dynamics 3 / 37

 Moving the Orbit Forward in Time (Propagation)
Lecture 7
2018-02-06 Spacecraft Dynamics Question: If I observe a satellite at 12:00 at position ~r with velocity ~v , where
will it be at time 15:00?

3 Steps
1. Calculate the orbital elements at 12:00

Moving the Orbit Forward in Time (Propagation) 2. Determine f at 15:00.

3. Convert orbital elements to ~r and ~v at 15:00.

• We already know how to do steps 1 and 2.

• Step 3 is more challenging, although the answer is actually simpler.
Finding the Orbital Elements

In the previous lecture, we introduced three new orbital elements.

• Inclination, i
• RAAN, Ω
• Argument of Periapse, ω
We gave a numerical example to illustrate how to find these new elements
M. Peet Lecture 7: Spacecraft Dynamics 4 / 37
Finding the Orbital Elements
Summary

Step 1: Construct ~h, ~n and ~e.

~h = ~r × ~v

Assume ~r and ~v are in ECI coordinates,

 
0
~n = 0 × ~h
1

1 ~r
~e = ~v × ~h −
µ r
Alternatively
1 h 2 µ  i
~e = v − ~r − (~r · ~v ) ~v
µ r
Calculate the scalars r = k~rk, v = k~v k, e = k~ek, h = k~hk.

M. Peet Lecture 7: Spacecraft Dynamics 5 / 37

Finding the Orbital Elements
Step 2: Calculate the 2D elements.
v2 µ µ
E= − and a=−
2 r 2E
Step 3: Calculate the 3D elements. We can now calculate our three new orbital
elements as indicated. Start with inclination
  
~h 0
i = cos−1  · 0
h
1
No quadrant ambiguity.
  
1
~n
Ω = cos−1 0 · 
k~nk
0
Correct for quadrant. (
Ω ŷ · ~n ≥ 0
Ω=
360 − Ω ŷ · ~n < 0
M. Peet Lecture 7: Spacecraft Dynamics 6 / 37
Finding the Orbital Elements
Argument of perigee is the angle between ~e and ~n.
 
−1 ~n · ~e
ω = cos
k~nke

We resolve the quadrant ambiguity be checking

(
ω ẑ · ~e ≥ 0
ω=
360 − ω ẑ · ~e < 0

True anomaly is the angle between ~r and ~e.

 
−1 ~ r · ~e
f = cos
re

We resolve the quadrant ambiguity by checking

(
f ~r · ~v ≥ 0
f=
360 − f ~r · ~v < 0

M. Peet Lecture 7: Spacecraft Dynamics 7 / 37

 Finding the Orbital Elements
Lecture 7 Argument of perigee is the angle between ~e and ~n.
 
~n · ~e
ω = cos−1

2018-02-06 Spacecraft Dynamics k~nke

We resolve the quadrant ambiguity be checking

(
ω ẑ · ~e ≥ 0
ω=
360 − ω ẑ · ~e < 0

True anomaly is the angle between ~r and ~e.

Finding the Orbital Elements f = cos−1

~r · ~e
re


We resolve the quadrant ambiguity by checking

(
f ~r · ~v ≥ 0
f=
360 − f ~r · ~v < 0

• We now have finished with step 1

Propagation in Time

All orbital elements can be determined from a single observation at t0 .

• Orbital motion is periodic
I Orbital elements allow us to predict the

motion for all time.

Given a future time, tf , we can use Kepler’s equation to predict f (tf )

Step 1: Use true anomaly, f (t0 ) to find mean anomaly, M (t0 ).

r !
−1 1−e f
E = 2 tan tan
1+e 2
M = E − e sin E

M. Peet Lecture 7: Spacecraft Dynamics 8 / 37

 Propagation in Time
Lecture 7 All orbital elements can be determined from a single observation at t0 .

2018-02-06 Spacecraft Dynamics • Orbital motion is periodic

I Orbital elements allow us to predict the

motion for all time.

Propagation in Time Given a future time, tf , we can use Kepler’s equation to predict f (tf )
Step 1: Use true anomaly, f (t0 ) to find mean anomaly, M (t0 ).

r !
1−e f
E = 2 tan−1 tan
1+e 2
M = E − e sin E

• Don’t forget the step where you find the initial time. This is not the time you
observed the satellite, but rather the time elapsed from periapse.
• Your final time is the change in time added to the initial time.
Propagation in Time

Step 2: Determine mean anomaly at tf

M (tf ) = M (t0 ) + n(tf − t0 )

Step 3: Use mean anomaly, M (tf ) to find true anomaly, f (tf ) using Kepler’s
equation.

M = E − e sin E
r !
−1 1+e E
f = 2 tan tan
1−e 2

• The true anomaly, f (tf ), tells us where the satellite is at time tf .

• But how to translate that into ~
r and ~v ?

M. Peet Lecture 7: Spacecraft Dynamics 9 / 37

 Propagation in Time
Lecture 7 Step 2: Determine mean anomaly at tf

2018-02-06 Spacecraft Dynamics M (tf ) = M (t0 ) + n(tf − t0 )

Step 3: Use mean anomaly, M (tf ) to find true anomaly, f (tf ) using Kepler’s
equation.

M = E − e sin E

Propagation in Time f = 2 tan−1

r
1+e
1−e
tan
E
2
!

• The true anomaly, f (tf ), tells us where the satellite is at time tf .

• But how to translate that into ~
r and ~v ?

• We assume here M is less that 2π. If not, subtract integer multiples of 2π until it
is.
Coordinate Systems
A coordinate system A coordinate system may be
• defines position variables • inertial
• defines positivity I F = ma
• translating
• rotating

A cartesian coordinate system has right angles and is right-handed.

M. Peet Lecture 7: Spacecraft Dynamics 10 / 37

Rotating ~r and ~v
Rotation Matrices

 
x
Example: Given a vector ~v = y  and a rotation θ, about the y-axis,
z
    
cos θ 0 sin θ x x cos θ + z sin θ
~v 0 =  0 1 0  y  =  y 
− sin θ 0 cos θ z −x sin θ + z cos θ
The matrix is called a rotation matrix.
M. Peet Lecture 7: Spacecraft Dynamics 11 / 37
There is also a right-hand rule for Rotation.

Figure: Positive Rotations

Rotation is counterclockwise when axis is pointing toward your eye.

M. Peet Lecture 7: Spacecraft Dynamics 12 / 37

Review: Rotating Vectors
Rotation Matrices

Rotation matrices can be used to calculate the effect of ANY rotation.

X-Axis, φ : Y-Axis θ : Z-Axis ψ :

~v 0 = R1 (φ)~v ~v 0 = R2 (θ)~v ~v 0 = R3 (ψ)~v

M. Peet Lecture 7: Spacecraft Dynamics 13 / 37

Review: Rotating Vectors
Rotation Matrices

The rotation matrices are (for reference):

Roll (X-Axis) (φ) : Pitch (Y-Axis) (θ): Yaw (Z-Axis) (ψ):

R1 (φ) R2 (θ) R3 (ψ)

     
1 0 0 cos θ 0 sin θ cos ψ − sin ψ 0
= 0 cos φ − sin φ = 0 1 0  =  sin ψ cos ψ 0
0 sin φ cos φ − sin θ 0 cos θ 0 0 1
M. Peet Lecture 7: Spacecraft Dynamics 14 / 37
 Review: Rotating Vectors
Lecture 7 Rotation Matrices

2018-02-06 Spacecraft Dynamics

Review: Rotating Vectors The rotation matrices are (for reference):

Roll (X-Axis) (φ) : Pitch (Y-Axis) (θ): Yaw (Z-Axis) (ψ):

R1 (φ) R2 (θ) R3 (ψ)

     
1 0 0 cos θ 0 sin θ cos ψ − sin ψ 0
= 0 cos φ − sin φ = 0 1 0  =  sin ψ cos ψ 0
0 sin φ cos φ − sin θ 0 cos θ 0 0 1

• Note that these rotation matrices are also used for converting between reference
frames. However, conversion is a bit trickier as conversion to a positively rotated
reference frame actually involves a negative rotation of the vector.
Rotating Vectors
Rotation Matrices: Multiple Rotations

Rotation matrices, can be used to calculate a sequence of rotations:

Roll-Pitch-Yaw:
~vRP Y = R3 (ψ)R2 (θ)R1 (φ)~v

Note the order of multiplication is critical.

 !
  
~vRP Y = R3 (ψ) R2 (θ) R1 (φ)~v
1 2 3

M. Peet Lecture 7: Spacecraft Dynamics 15 / 37

Review: Coordinate Rotations
Coordinate rotations are different than vector rotations

Case 1: Rotation of a vector in a fixed coordinate

system.
Consider rotation of ~r around the x̂ axis by θ and
around the ẑ axis by ω

~r0 = R3 (ω)R1 (θ)~r

Case 2: Expression of a fixed vector in a new

coordinate system.
Consider what happens if we rotate the coordinates
(F1) about the x̂ axis by θ (F2) and then rotate the
coordinates about the ẑ axis by ω (F3)

~rF 3 = R3 (−ω)~rF 2 = R3 (−ω)R1 (−θ)~rF 1

M. Peet Lecture 7: Spacecraft Dynamics 16 / 37

 Review: Coordinate Rotations
Lecture 7 Coordinate rotations are different than vector rotations

Case 1: Rotation of a vector in a fixed coordinate

2018-02-06 Spacecraft Dynamics system.

Consider rotation of ~r around the x̂ axis by θ and
around the ẑ axis by ω

~r0 = R3 (ω)R1 (θ)~r

Review: Coordinate Rotations Case 2: Expression of a fixed vector in a new

coordinate system.
Consider what happens if we rotate the coordinates
(F1) about the x̂ axis by θ (F2) and then rotate the
coordinates about the ẑ axis by ω (F3)

~rF 3 = R3 (−ω)~rF 2 = R3 (−ω)R1 (−θ)~rF 1

• A common transformation is position in ECI to position in ECEF. These

coordinates differ only by a rotation about ẑ equal to the Greenwich sidereal time.
• Local sidereal time is given by the hour angle of the FPOA at that time and place.
• A sidereal day is 23 h, 56 min, 4s
• Rotation of a position vector from ECI to ECEF uses R3 (−θGST )
Finding ~r and ~v
The Perifocal Frame

Note: Our method is slightly different than the book. You are free to take
either approach.

Perifocal Coordinates:
• x̂ = ~
e/e.
• ẑ = ~h/h
• ŷ by RHR

Position in perifocal frame is simple.

 
r cos f
p
~r =  r sin f  where r=
1 + e cos f
0

M. Peet Lecture 7: Spacecraft Dynamics 17 / 37

Velocity in the Perifocal Frame

Recall our original expression for 2D

velocity in satellite normal frame.
 
ṙ
~vo = ṙî + rf˙ = rf˙
0

• To get to the perifocal frame we rotate backwards by angle f .

• Can use rotation matrix R3 (−f ).

ṙ cos f − rf˙ sin f

   
ṙ
~vP QW = R3 (−f ) rf˙ = ṙ sin f + rf˙ cos f 
0 0

M. Peet Lecture 7: Spacecraft Dynamics 18 / 37

 Velocity in the Perifocal Frame
Lecture 7 Recall our original expression for 2D
velocity in satellite normal frame.

2018-02-06 Spacecraft Dynamics  

ṙ
~vo = ṙî + rf˙ = rf˙
0

Velocity in the Perifocal Frame • To get to the perifocal frame we rotate backwards by angle f .
• Can use rotation matrix R3 (−f ).

ṙ cos f − rf˙ sin f

   
ṙ
~vP QW = R3 (−f ) rf˙ = ṙ sin f + rf˙ cos f 
0 0

• P QW are the unit vectors traditionally associated with perifocal.

Velocity in the Perifocal Frame

Now recall h = r2 f˙. Hence we can

simplify
r
˙ µ
rf = (1 + e cos f ) .
p

by differentiating the orbit equation and

using the above expression, we get
r
µ
ṙ = (e sin f )
p
Plugging these expressions in, we get the following
 q 
µ

ṙ
 
˙
ṙ cos f − rf sin f
 − p sin f
= R3 (−f ) rf˙ = ṙ sin f + rf˙ cos f  = 
q 
~vP QW µ
 p (e + cos f )

0 0
0

M. Peet Lecture 7: Spacecraft Dynamics 19 / 37

Coordinate Rotations
Perifocal to ECI Transformation

 q 

r cos f
 − µp sin f
q 
~rP QW =  r sin f  ~vP QW = µ
 p (e + cos f )

0
0
The Perifocal coordinates can be
reached from ECI via 3 rotations.
1. Rotate Ω about ẑ
2. Rotate i about x̂
3. Rotate ω about ẑ

As mentioned, rotating coordinates has the opposite effect of rotating the

vector. Thus a vector ~rECI in ECI coordinates can be expressed as

~rP QW = R3 (−ω)R1 (−i)R3 (−Ω)~rECI

M. Peet Lecture 7: Spacecraft Dynamics 20 / 37

 Coordinate Rotations
Lecture 7 Perifocal to ECI Transformation

 q 
µ
  − p sin f

2018-02-06 Spacecraft Dynamics r cos f

~rP QW =  r sin f 
0
q
~vP QW = 

µ
p

(e + cos f )
0


The Perifocal coordinates can be

reached from ECI via 3 rotations.
1. Rotate Ω about ẑ
2. Rotate i about x̂
Coordinate Rotations 3. Rotate ω about ẑ

As mentioned, rotating coordinates has the opposite effect of rotating the

vector. Thus a vector ~rECI in ECI coordinates can be expressed as

~rP QW = R3 (−ω)R1 (−i)R3 (−Ω)~rECI

• To rotate the x-y-z ECI coordinate system into the perifocal: Rotate z-axis by Ω.
This aligns the x-axis with the line of nodes. Rotate by angle i about the line of
nodes (x-axis). The plane is now correct, but the eccentricity vector is aligned
with the line of nodes. Rotate about the z-axis by angle ω to correctly place the
eccentricity vector.
• The sequence of rotations from ECI to PQW is Ω, i, ω.
Perifocal to ECI Transformation

Thus to convert a PQW vector to ECI, we can

~rECI = R3 (Ω)R1 (i)R3 (ω)~rP QW = RP QW →ECI ~rP QW

   
cos Ω − sin Ω 0 1 0 0 cos ω − sin ω 0
RP QW →ECI =  sin Ω cos Ω 0 0 cos i − sin i  sin ω cos ω 0
0 0 1 0 sin i cos i 0 0 1
 
cos Ω cos ω − sin Ω sin ω cos i − cos Ω sin ω − sin Ω cos ω cos i sin Ω sin i
= sin Ω cos ω + cos Ω sin ω cos i − sin Ω sin ω + cos Ω cos ω cos i − cos Ω sin i
sin ω sin i cos ω sin i cos i

M. Peet Lecture 7: Spacecraft Dynamics 21 / 37

 Perifocal to ECI Transformation
Lecture 7
Thus to convert a PQW vector to ECI, we can

2018-02-06 Spacecraft Dynamics ~rECI = R3 (Ω)R1 (i)R3 (ω)~rP QW = RP QW →ECI ~rP QW

   
cos Ω − sin Ω 0 1 0 0 cos ω − sin ω 0

Perifocal to ECI Transformation RP QW →ECI =  sin Ω cos Ω 0 0 cos i − sin i  sin ω


0 0 1 0 sin i cos i 0
cos Ω cos ω − sin Ω sin ω cos i − cos Ω sin ω − sin Ω cos ω cos i
cos ω 0
0 1
sin Ω sin i


= sin Ω cos ω + cos Ω sin ω cos i − sin Ω sin ω + cos Ω cos ω cos i − cos Ω sin i
sin ω sin i cos ω sin i cos i

• Recall for rotation matrices,

R(θ)−1 = R(θ)T = R(−θ)

~r and ~v in ECI
Finally, we can express our ~r and ~v in ECI.
q 


r cos f
 − µp sin f
q 
~rECI = RP QW →ECI  r sin f  ~vECI = RP QW →ECI  µ
 p (e + cos f )

0
0

Matrix multiplication is not hard:

 
r(cos Ω cos(ω + f ) − sin Ω sin(ω + f ) cos i)
~r = r(sin Ω cos(ω + f ) + cos Ω sin(ω + f ) cos i)
r sin(ω + f ) sin i
 µ 
− h (cos Ω (sin(ω + f ) + e sin ω) + sin Ω (cos(ω + f ) + e cos ω) cos i)
~v = − µh (sin Ω (sin(ω + f ) + e sin ω) − cos Ω (cos(ω + f ) + e cos ω) cos i)
µ
h (cos(ω + f ) + e cos ω) sin i

M. Peet Lecture 7: Spacecraft Dynamics 22 / 37

Numerical Example: ~r and ~v in ECI
Problem: Given the following orbital elements, find ~r and ~v .

a = 35, 960km = 5.64ER e = .832 f = 92.335 deg

i = 87.87 deg Ω = 227.9 deg ω = 53.39 deg

Solution: First solve for r and h.

p = a(1 − e2 ) = 1.735ER
p
r= = 1.7947
1 + e cos f
p = h2 /µ, so
√
h= p = 1.3172.
Now in perifocal coordinates
   
−.07319 −.7585
~rP QW =  1.7947  ~vP QW =  .6013 
0 0

M. Peet Lecture 7: Spacecraft Dynamics 23 / 37

 Numerical Example: ~r and ~v in ECI
Lecture 7 Problem: Given the following orbital elements, find ~r and ~v .

2018-02-06 Spacecraft Dynamics a = 35, 960km = 5.64ER

i = 87.87 deg
e = .832
Ω = 227.9 deg
f = 92.335 deg
ω = 53.39 deg

Solution: First solve for r and h.

p = a(1 − e2 ) = 1.735ER
p
r= = 1.7947
Numerical Example: ~r and ~v in ECI p = h2 /µ, so
1 + e cos f

h=
√
p = 1.3172.
Now in perifocal coordinates
   
−.07319 −.7585
~rP QW =  1.7947  ~vP QW =  .6013 
0 0

• Note that µ = 1 in this case because we are in universal coordinates.

Numerical Example: ~r and ~v in ECI

We can find the rotation matrices in Matlab using the following commands:
R3w = [cosd(w) -sind(w) 0; sind(w) cosd(w) 0; 0 0 1 ];
R1 = [1 0 0; 0 cosd(i) -sind(i) ; 0 sind(i) cosd(i)];
R3Om = [cosd(Om) -sind(Om) 0; sind(Om) cosd(Om) 0; 0 0 1 ];
Then compute the position and velocity vectors:
rECI = R3O*R1*R3w*rPQW
vECI = R3O*R1*R3w*vPQW
which yields
   
1.023 .62
~rECI = 1.076 ER ~vECI =  .7  ER/T U
1.011 −.25

Of course we could have simply used the formulae.

M. Peet Lecture 7: Spacecraft Dynamics 24 / 37

Pointing Coordinates
Right Ascension and Declination

Question: Now that we have ~r and ~v , what do we do with them?

Answer:
• Tracking
• Communication
• Interception
• Astronomy
For all of these applications, we need to know
where to look.
1. The sky is big.
2. Satellites are small.
To track a satellite or star, the position vector must be translated into a
direction.
These directions are declination and right ascension.

M. Peet Lecture 7: Spacecraft Dynamics 25 / 37

Right Ascension
Definition 1.
Right Ascension, α is the angle the position vector makes with the FPOA
when projected onto the reference plane.

Initially suppose we are at the ~ 

r r2

r3 , the
 center of the earth. If [r] = 1
projection is simply r1 r2 . Thus
r2
tan(α) =
r1
M. Peet Lecture 7: Spacecraft Dynamics 26 / 37
Declination

Definition 2.
Declination, δ is the angle the position vector makes with the reference plane.

Again, simple geometry yields

r3
sin δ =
r
or
r3
tan δ = p 2
r1 + r22

For a point on the surface of the earth, the observer must use

~rrel = ~rsat − ~rsite

to calculate the right ascension and declination.

Question: How to find Jupiter?
M. Peet Lecture 7: Spacecraft Dynamics 27 / 37
Observation using α and δ

Step 1: Locate the Equatorial plane.

• When facing due south, the equatorial plane will be at 90 deg −λ, where λ
is your latitude.

M. Peet Lecture 7: Spacecraft Dynamics 28 / 37

 Observation using α and δ
Lecture 7
2018-02-06 Spacecraft Dynamics

Observation using α and δ

Step 1: Locate the Equatorial plane.
• When facing due south, the equatorial plane will be at 90 deg −λ, where λ
is your latitude.

• Phoenix latitude is 33.45◦ N

• At the equator, equatorial plane is directly overhead.
• At the north pole, equatorial plane is at the horizon.
Observation using α and δ

Step 2: From the Equatorial plane, measure up/down to declination line.

M. Peet Lecture 7: Spacecraft Dynamics 29 / 37

Observation using α and δ

Step 3: Determine right ascension, αS of due south.

• This is given by Local Sidereal Time.
• Consult a table or do the conversion (not covered here).
• There is an app for that.
I Sidereal Time, Skyfari, Star Map Pro, Emerald Geneva for iphone

M. Peet Lecture 7: Spacecraft Dynamics 30 / 37

 Observation using α and δ
Lecture 7
2018-02-06 Spacecraft Dynamics

Observation using α and δ

Step 3: Determine right ascension, αS of due south.
• This is given by Local Sidereal Time.
• Consult a table or do the conversion (not covered here).
• There is an app for that.
I Sidereal Time, Skyfari, Star Map Pro, Emerald Geneva for iphone

• Local sidereal time is the angle between the FPOA and the local meridian.
• Take GMT and add the difference in longitude (positive for east)

θLST = θGST + λ

• The longitude for phoenix is 112◦ W

λ = −112◦

• But, of course, you need to know θGST

Observation using α and δ

Step 4: Find desired αRA relative to αS .

• Measure αRA − θLST degrees from due south.

M. Peet Lecture 7: Spacecraft Dynamics 31 / 37

Observation using α and δ

M. Peet Lecture 7: Spacecraft Dynamics 32 / 37

RA/Dec Coordinates

M. Peet Lecture 7: Spacecraft Dynamics 33 / 37

RA/Dec Coordinates

M. Peet Lecture 7: Spacecraft Dynamics 34 / 37

Numerical Example
Targeting

Problem: Suppose we are in a spacecraft in the following orbit

a = 60, 000km = 9.41ER e = .9 f = 130 deg

i = 80 deg Ω = 220 deg ω = 70 deg
We would like to use our laser cannon to destroy a defense satellite in the
following orbit.
a = 35, 960km = 5.64ER e = .832 f = 92.335 deg
i = 87.87 deg Ω = 227.9 deg ω = 53.39 deg
What range, Right Ascension and declination should we give to the targeting
computer?
Step 1: Find our position vector. We use the same Matlab script as before.
 
4.71
~r1 =  5.97  ER
−8.74
M. Peet Lecture 7: Spacecraft Dynamics 35 / 37
Numerical Example

Step 2: The position vector

 
1.023
~r2 = 1.076 ER
1.011
Step 3: The relative position vector
 
−3.7
~r2 − ~r1 = −4.89
9.75

Step 4: Translate into RA and declination. Use Matlab commands

dec=atan2(rrel(3),sqrt(rrel(1)2 + rrel(2)2 ))
RA=atan2(rrel(2),rrel(1))
Yields δ = 1.0097rad, α = −2.2173rad.

M. Peet Lecture 7: Spacecraft Dynamics 36 / 37

 Numerical Example
Lecture 7 Step 2: The position vector

2018-02-06 Spacecraft Dynamics 

1.023


~r2 = 1.076 ER
1.011
Step 3: The relative position vector
 
−3.7
~r2 − ~r1 = −4.89

Numerical Example 9.75

Step 4: Translate into RA and declination. Use Matlab commands

dec=atan2(rrel(3),sqrt(rrel(1)2 + rrel(2)2 ))
RA=atan2(rrel(2),rrel(1))
Yields δ = 1.0097rad, α = −2.2173rad.

• Dont forget to adjust your declination for latitude and RA for θLST
Summary

This Lecture you have learned:

How to convert between
• a, e, i, Ω, ω, f
• ~
r and ~v

How to translate ~r and ~v into pointing data for telescope/radio

• Right Ascension
• Declination
• Tracking

Next Lecture: Transfer Orbits

M. Peet Lecture 7: Spacecraft Dynamics 37 / 37