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NASA NTRS1979

The magnetic field of Mercury

The paper examines the magnetic field observations and their analyses relating to the determination of the Mercury magnetic field. Methods of analyzing data included: (1) comparison of bow shock and magnetopause relative positions at Mercury to the earth, (2) direct spherical harmonic analysis, (3) magnetosphere modeling by an image dipole, and (4) scaling of a mathematical model for the terrestrial magnetosphere. Dipole moments were determined using partial quadrupole and octupole terms to improve the least-square fit of models to observations; analyses by method (2) yield a convergent series of dipole moments values considered to best represent the intrinsic planetary field. Finally, it is suggested that the origin of the magnetic field of Mercury cannot be uniquely determined, but the sources of convective energy may be radiogenic decay and heat release, gravitational settling, and differentiation of processional torques.

Ness, N. F.↗
NASA NTRS2016

Normalization and Implementation of Three Gravitational Acceleration Models

Unlike the uniform density spherical shell approximations of Newton, the consequence of spaceflight in the real universe is that gravitational fields are sensitive to the asphericity of their generating central bodies. The gravitational potential of an aspherical central body is typically resolved using spherical harmonic approximations. However, attempting to directly calculate the spherical harmonic approximations results in at least two singularities that must be removed to generalize the method and solve for any possible orbit, including polar orbits. Samuel Pines, Bill Lear, and Robert Gottlieb developed three unique algorithms to eliminate these singularities. This paper documents the methodical normalization of two of the three known formulations for singularity-free gravitational acceleration (namely, the Lear and Gottlieb algorithms) and formulates a general method for defining normalization parameters used to generate normalized Legendre polynomials and Associated Legendre Functions (ALFs) for any algorithm. A treatment of the conventional formulation of the gravitational potential and acceleration is also provided, in addition to a brief overview of the philosophical differences between the three known singularity-free algorithms.

Eckman, Randy A.↗
NASA NTRS1976

Representation of magnetic fields in space

Several mathematical methods which are available for the description of magnetic fields in space are reviewed. Examples of the application of such methods are given, with particular emphasis on work related to the geomagnetic field, and their individual properties and associated problems are described. The methods are grouped in five main classes: (1) methods based on the current density, (2) methods using the scalar magnetic potential, (3) toroidal and poloidal components of the field and spherical vector harmonics, (4) Euler potentials, and (5) local expansions of the field near a given reference point. Special attention is devoted to models of the magnetosphere, to the uniqueness of the scalar potential as derived from observed data, and to the L parameter.

Stern, D. P.↗
NASA NTRS1983

Gravity, topography, and crustal evolution of Venus

A method for estimating radial gravity anomalies from line-of-sight acceleration data, their interpolation, and the use of iteration for improved radial anomaly estimates is outlined. Results based on spherical harmonic coefficients for Venus' gravitational field are first discussed, and the procedure is then presented for determining radial acceleration estimates from the line-of-sight vectors and for interpolating the results at preselected locations using the method of objective mapping. A preliminary gravity anomaly map of much of the surface of Venus based on the first estimation step of this technique is presented, and the results are discussed.

Bowin, C.↗
NASA NTRS1988

A numerical study of viscous vortex rings using a spectral method

Viscous, axisymmetric vortex rings are investigated numerically by solving the incompressible Navier-Stokes equations using a spectral method designed for this type of flow. The results presented are axisymmetric, but the method is developed to be naturally extended to three dimensions. The spectral method relies on divergence-free basis functions. The basis functions are formed in spherical coordinates using Vector Spherical Harmonics in the angular directions, and Jacobi polynomials together with a mapping in the radial direction. Simulations are performed of a single ring over a wide range of Reynolds numbers (Re approximately equal gamma/nu), 0.001 less than or equal to 1000, and of two interacting rings. At large times, regardless of the early history of the vortex ring, it is observed that the flow approaches a Stokes solution that depends only on the total hydrodynamic impulse, which is conserved for all time. At small times, from an infinitely thin ring, the propagation speeds of vortex rings of varying Re are computed and comparisons are made with the asymptotic theory by Saffman. The results are in agreement with the theory; furthermore, the error is found to be smaller than Saffman's own estimate by a factor square root ((nu x t)/R squared) (at least for Re=0). The error also decreases with increasing Re at fixed core-to-ring radius ratio, and appears to be independent of Re as Re approaches infinity). Following a single ring, with Re=500, the vorticity contours indicate shedding of vorticity into the wake and a settling of an initially circular core to a more elliptical shape, similar to Norbury's steady inviscid vortices. Finally, we consider the case of leapfrogging vortex rings with Re=1000. The results show severe straining of the inner vortex core in the first pass and merging of the two cores during the second pass.

Stanaway, S. K.↗
NASA NTRS2011

Normalization of Gravitational Acceleration Models

Unlike the uniform density spherical shell approximations of Newton, the con- sequence of spaceflight in the real universe is that gravitational fields are sensitive to the nonsphericity of their generating central bodies. The gravitational potential of a nonspherical central body is typically resolved using spherical harmonic approximations. However, attempting to directly calculate the spherical harmonic approximations results in at least two singularities which must be removed in order to generalize the method and solve for any possible orbit, including polar orbits. Three unique algorithms have been developed to eliminate these singularities by Samuel Pines [1], Bill Lear [2], and Robert Gottlieb [3]. This paper documents the methodical normalization of two1 of the three known formulations for singularity-free gravitational acceleration (namely, the Lear [2] and Gottlieb [3] algorithms) and formulates a general method for defining normalization parameters used to generate normalized Legendre Polynomials and ALFs for any algorithm. A treatment of the conventional formulation of the gravitational potential and acceleration is also provided, in addition to a brief overview of the philosophical differences between the three known singularity-free algorithms.

Eckman, Randy A.↗
NASA NTRS1989

Annual and interannual variations of Earth-emitted radiation based on a 10-year data set

The method of empirical orthogonal functions (EOF) was applied to a 10-year data set of outgoing longwave radiation. Spherical harmonic functions are used as a basis set for producing equal area map results. The following findings are noted. The first EOF accounts for 66 percent of the variance. After that, each EOF accounts for only a small variance, forming a slowly converging series. The first two EOF's describe mainly the annual cycle. The third EOF is primarily the semiannual cycle although many other EOF's also contain significant semiannual parts. These results reaffirm those based on a shorter data set. In addition, a much stronger spring/fall mode was found in the central equatorial Pacific Ocean for the second EOF than was found earlier. This difference is attributed to the use of broadband radiometer data which were available for the present study. The earlier study used data from a window channel instrument which is not as sensitive to water vapor variations. The fourth EOF describes much of the 1976 to 1977 and 1982 to 1983 ENSO phenomena. There is typically a gap in the spectrum between a semiannual peak and the annual cycle for all but the first EOF. A semiannual OLR dipole straddles the Asian-Australian monsoon track.

Bess, T. Dale↗
NASA NTRS1992

Annual and interannual variations of earth-emitted radiation based on a 10-year data set

The method of empirical orthogonal functions (EOFs) was applied to a 10-yr data set of outgoing longwave radiation. Spherical harmonic functions are used as a basis set for producing equal area map results. The first EOF accounts for 66 percent of the variance. After that, each EOF accounts for only a small variance, forming a slowly converging series. The first two EOFs describe mainly the annual cycle. The third EOF is primarily the semiannual cycle although many other EOFs also contain significant semiannual parts. These results reaffirm those based on a shorter data set. In addition, a much stronger spring/fall mode was found in the central equatorial Pacific Ocean for the second EOF than was found earlier. The fourth EOF describes much of the 1976 to 1977 and 1982 to 1983 ENSO phenomena. There is typically a gap in the spectrum between a semiannual peak and the annual cycle for all but the first EOF. A semiannual OLR dipole straddles the Asian-Australian monsoon track.

Bess, T. D.↗
NASA NTRS1989

Modeling of the Earth's gravity field using the New Global Earth Model (NEWGEM)

Traditionally, the global gravity field was described by representations based on the spherical harmonics (SH) expansion of the geopotential. The SH expansion coefficients were determined by fitting the Earth's gravity data as measured by many different methods including the use of artificial satellites. As gravity data have accumulated with increasingly better accuracies, more of the higher order SH expansion coefficients were determined. The SH representation is useful for describing the gravity field exterior to the Earth but is theoretically invalid on the Earth's surface and in the Earth's interior. A new global Earth model (NEWGEM) (KIM, 1987 and 1988a) was recently proposed to provide a unified description of the Earth's gravity field inside, on, and outside the Earth's surface using the Earth's mass density profile as deduced from seismic studies, elevation and bathymetric information, and local and global gravity data. Using NEWGEM, it is possible to determine the constraints on the mass distribution of the Earth imposed by gravity, topography, and seismic data. NEWGEM is useful in investigating a variety of geophysical phenomena. It is currently being utilized to develop a geophysical interpretation of Kaula's rule. The zeroth order NEWGEM is being used to numerically integrate spherical harmonic expansion coefficients and simultaneously determine the contribution of each layer in the model to a given coefficient. The numerically determined SH expansion coefficients are also being used to test the validity of SH expansions at the surface of the Earth by comparing the resulting SH expansion gravity model with exact calculations of the gravity at the Earth's surface.

Kim, Yeong E.↗
NASA NTRS2010

High-Speed Solution of Spacecraft Trajectory Problems Using Taylor Series Integration

It has been known for some time that Taylor series (TS) integration is among the most efficient and accurate numerical methods in solving differential equations. However, the full benefit of the method has yet to be realized in calculating spacecraft trajectories, for two main reasons. First, most applications of Taylor series to trajectory propagation have focused on relatively simple problems of orbital motion or on specific problems and have not provided general applicability. Second, applications that have been more general have required use of a preprocessor, which inevitably imposes constraints on computational efficiency. The latter approach includes the work of Berryman et al., who solved the planetary n-body problem with relativistic effects. Their work specifically noted the computational inefficiencies arising from use of a preprocessor and pointed out the potential benefit of manually coding derivative routines. In this Engineering Note, we report on a systematic effort to directly implement Taylor series integration in an operational trajectory propagation code: the Spacecraft N-Body Analysis Program (SNAP). The present Taylor series implementation is unique in that it applies to spacecraft virtually anywhere in the solar system and can be used interchangeably with another integration method. SNAP is a high-fidelity trajectory propagator that includes force models for central body gravitation with N X N harmonics, other body gravitation with N X N harmonics, solar radiation pressure, atmospheric drag (for Earth orbits), and spacecraft thrusting (including shadowing). The governing equations are solved using an eighth-order Runge-Kutta Fehlberg (RKF) single-step method with variable step size control. In the present effort, TS is implemented by way of highly integrated subroutines that can be used interchangeably with RKF. This makes it possible to turn TS on or off during various phases of a mission. Current TS force models include central body gravitation with the J2 spherical harmonic, other body gravitation, thrust, constant atmospheric drag from Earth's atmosphere, and solar radiation pressure for a sphere under constant illumination. The purpose of this Engineering Note is to demonstrate the performance of TS integration in an operational trajectory analysis code and to compare it with a standard method, eighth-order RKF. Results show that TS is 16.6 times faster on average and is more accurate in 87.5% of the cases presented.

Scott, James R.↗
NASA NTRS1986

Effects of the oceans on polar motion: Extended investigations

A method was found for expressing the tide current velocities in terms of the tide height (with all variables expanded in spherical harmonics). All time equations were then combined into a single, nondifferential matrix equation involving only the unknown tide height. The pole tide was constrained so that no tidewater flows across continental boundaries. The constraint was derived for the case of turbulent oceans; with the tide velocities expressed in terms of the tide height. The two matrix equations were combined. Simple matrix inversion then yielded the constrained solution. Programs to construct and invert the matrix equations were written. Preliminary results were obtained and are discussed.

Dickman, Steven R.↗
NASA NTRS1987

A full simulation of a vortex ring

A three-dimensional spectral method is developed for the solution to the incompressible Navier-Stokes equations in an unbounded domain. The spectral method relies on divergence-free basis functions as proposed by Leonard (1981). The basis functions are formed using vector spherical harmonics and Jacobi polynomials together with a mapping in the radial direction. An axisymmetric code was written and is verified using an exact solution of the Stokes equations. Preliminary results for the evolution of a vortex ring according to the Navier-Stokes equations are presented.

Stanaway, S. K.↗
NASA NTRS1986

On crossover adjustment in satellite altimetry and its oceanographic implications

It is argued that, to remove the satellite orbital errors, the crossover adjustment method that represents orbital errors in terms of Fourier series is preferable to the conventional bias-and-tilt crossover adjustment method. However, no matter what technique is used in the crossover adjustment, orbital errors will introduce a geographically dependent error (mostly a large-scale slope, which, in terms of spherical harmonics, is represented by the degree 1 terms) into the derived sea surface topography. This is because the responsible orbital errors have left no traces in crossover differences and therefore can never be removed. However, it is possible to reduce this fundamental uncertainty substantially if the record length is long enough; its implications on observing the basin-scale ocean circulation by satellite altimetry are discussed. New methods for observing the large-scale oceanic variability are also proposed (the conventional approach being limited to observing the mesoscale variability).

Tai, C.-K.↗
NASA NTRS2013

Region Spherical Harmonic Magnetic Modeling from Near-Surface and Satellite-Altitude Anomlaies

The compiled near-surface data and satellite crustal magnetic measured data are modeled with a regionally concentrated spherical harmonic presentation technique over Australia and Antarctica. Global crustal magnetic anomaly studies have used a spherical harmonic analysis to represent the Earth's magnetic crustal field. This global approach, however is best applied where the data are uniformly distributed over the entire Earth. Satellite observations generally meet this requirement, but unequally distributed data cannot be easily adapted in global modeling. Even for the satellite observations, due to the errors spread over the globe, data smoothing is inevitable in the global spherical harmonic presentations. In addition, global high-resolution modeling requires a great number of global spherical harmonic coefficients for the regional presentation of crustal magnetic anomalies, whereas a lesser number of localized spherical coefficients will satisfy. We compared methods in both global and regional approaches and for a case where the errors were propagated outside the region of interest. For observations from the upcoming Swarm constellation, the regional modeling will allow the production a lesser number of spherical coefficients that are relevant to the region of interest

Modeling↗
NASA NTRS2000

Computer-implemented method and apparatus for autonomous position determination using magnetic field data

A computer-implemented method and apparatus for determining position of a vehicle within 100 km autonomously from magnetic field measurements and attitude data without a priori knowledge of position. An inverted dipole solution of two possible position solutions for each measurement of magnetic field data are deterministically calculated by a program controlled processor solving the inverted first order spherical harmonic representation of the geomagnetic field for two unit position vectors 180 degrees apart and a vehicle distance from the center of the earth. Correction schemes such as a successive substitutions and a Newton-Raphson method are applied to each dipole. The two position solutions for each measurement are saved separately. Velocity vectors for the position solutions are calculated so that a total energy difference for each of the two resultant position paths is computed. The position path with the smaller absolute total energy difference is chosen as the true position path of the vehicle.

Ketchum, Eleanor A.↗
NASA NTRS1979

Global accuracy estimates of point and mean undulation differences obtained from gravity disturbances, gravity anomalies and potential coefficients

Through the method of truncation functions, the oceanic geoid undulation is divided into two constituents: an inner zone contribution expressed as an integral of surface gravity disturbances over a spherical cap; and an outer zone contribution derived from a finite set of potential harmonic coefficients. Global, average error estimates are formulated for undulation differences, thereby providing accuracies for a relative geoid. The error analysis focuses on the outer zone contribution for which the potential coefficient errors are modeled. The method of computing undulations based on gravity disturbance data for the inner zone is compared to the similar, conventional method which presupposes gravity anomaly data within this zone.

Jekeli, C.↗
NASA NTRS1980

Reducing the error of geoid undulation computations by modifying Stokes' function

The truncation theory as it pertains to the calculation of geoid undulations based on Stokes' integral, but from limited gravity data, is reexamined. Specifically, the improved procedures of Molodenskii et al. are shown through numerical investigations to yield substantially smaller errors than the conventional method that is often applied in practice. In this improved method, as well as in a simpler alternative to the conventional approach, the Stokes' kernel is suitably modified in order to accelerate the rate of convergence of the error series. These modified methods, however, effect a reduction in the error only if a set of low-degree potential harmonic coefficients is utilized in the computation. Consider, for example, the situation in which gravity anomalies are given in a cap of radius 10 deg and the GEM 9 (20,20) potential field is used. Then, typically, the error in the computed undulation (aside from the spherical approximation and errors in the gravity anomaly data) according to the conventional truncation theory is 1.09 m; with Meissl's modification it reduces to 0.41m, while Molodenskii's improved method gives 0.45 m. A further alteration of Molodenskii's method is developed and yields an RMS error of 0.33 m. These values reflect the effect of the truncation, as well as the errors in the GEM 9 harmonic coefficients. The considerable improvement, suggested by these results, of the modified methods over the conventional procedure is verified with actual gravity anomaly data in two oceanic regions, where the GEOS-3 altimeter geoid serves as the basis for comparison. The optimal method of truncation, investigated by Colombo, is extremely ill-conditioned. It is shown that with no corresponding regularization, this procedure is inapplicable.

Jekeli, C.↗
NASA NTRS1974

Finite-amplitude thermal convection in a spherical shell

The properties of finite-amplitude thermal convection for a Boussinesq fluid contained in a spherical shell are investigated. All nonlinear terms are retained in the equations, and both axisymmetric and nonaxisymmetric solutions are studied. The velocity is expanded in terms of poloidal and toroidal vectors. Spherical surface harmonics resolve the horizontal structure of the flow, but finite differences are used in the vertical. With a few modifications, the transform method developed by Orszag (1970) is used to calculate the nonlinear terms, while Green's function techniques are applied to the poloidal equation and diffusion terms.

Young, R. E.↗