Merge branch 'main' into motion/vessels-frame-cadence

src/layers/satellites/catalog.js

@@ -1,11 +1,14 @@
 import * as Cesium from 'cesium';
-import { twoline2satrec } from 'satellite.js';
+import { gstime, twoline2satrec } from 'satellite.js';
 import { noradIdFromSatnum, tleLineLaunchYear } from '../../sources/tle.js';
+import { reckonEarthFixed, sampleOrbit } from './motion.js';
 import {
   DENSE_REFRESH_FRAMES,
   DENSE_GROUP_PATH,
+  DENSE_SAMPLES_PER_FRAME_MAX,
   POINT_STYLES,
   DENSE_CREATE_CHUNK,
+  ORBIT_SAMPLE_HORIZON_MS,
 } from './policy.js';
 
 export function createCatalog({ state: layerState, services, parts, source }) {
@@ -18,37 +21,42 @@ export function createCatalog({ state: layerState, services, parts, source }) {
   }
 
   /**
-   * Re-propagate a small per-frame slice of the dense extras (round-robin).
-   * Budget: the full dense set completes one pass every ~DENSE_REFRESH_FRAMES
-   * frames (~5s at 60fps ≈ 1/5 of the core cadence), so per-frame cost stays
-   * ~35 propagations (~0.1 ms) even with 10K+ Starlink sats — spreading the
-   * work per frame avoids the once-per-second spike a tick-sized chunk
-   * (~2K props ≈ 4ms) would cause.
+   * Sample a small per-frame slice of the dense extras (round-robin); every
+   * point is then reckoned from its sample each frame (rendering.js
+   * _reckonPoints). At normal speed the full dense set is sampled once every
+   * ~DENSE_REFRESH_FRAMES frames (~5s at 60fps), so per-frame cost stays ~35
+   * propagations (~0.1 ms) even with 10K+ Starlink sats — spreading the work
+   * per frame avoids the once-per-second spike a tick-sized chunk (~2K props
+   * ≈ 4ms) would cause. While time plays fast, or after a seek, the slice
+   * grows so each sample stays within ORBIT_SAMPLE_HORIZON_MS of the world
+   * time, up to DENSE_SAMPLES_PER_FRAME_MAX a frame.
+   * @param {number} worldStepMs How far the world time moved since the last
+   *   frame (NaN on the first).
    */
 
-  function _propagateDenseChunk() {
-    if (layerState._denseIds.length === 0) return;
-    const perFrame = Math.max(
-      1,
-      Math.ceil(layerState._denseIds.length / DENSE_REFRESH_FRAMES),
+  function _propagateDenseChunk(worldStepMs) {
+    const count = layerState._denseIds.length;
+    if (count === 0) return;
+    const share = Math.max(
+      1 / DENSE_REFRESH_FRAMES,
+      Number.isFinite(worldStepMs)
+        ? Math.abs(worldStepMs) / ORBIT_SAMPLE_HORIZON_MS
+        : 1,
     );
-    const now = new Date(layerState.now());
+    const perFrame = Math.min(
+      count,
+      DENSE_SAMPLES_PER_FRAME_MAX,
+      Math.max(1, Math.ceil(count * share)),
+    );
+    const nowMs = layerState.now();
     for (let i = 0; i < perFrame; i++) {
-      if (layerState._denseCursor >= layerState._denseIds.length)
-        layerState._denseCursor = 0;
+      if (layerState._denseCursor >= count) layerState._denseCursor = 0;
       const noradId = layerState._denseIds[layerState._denseCursor++];
       if (noradId === layerState._trackedNorad) continue; // per-frame tracked path owns it
       const sat = layerState._catalog.get(noradId);
-      const point = layerState._points.get(noradId);
-      if (!sat || !point) continue;
-      const pos = parts.orbits.propagatePosition(sat.satrec, now);
-      if (pos) {
-        point.position = Cesium.Cartesian3.fromDegrees(
-          pos.longitude,
-          pos.latitude,
-          pos.altitude,
-        );
-      }
+      if (!sat) continue;
+      const sample = sampleOrbit(sat.satrec, nowMs, sat.orbitSample);
+      if (sample) sat.orbitSample = sample;
     }
   }
 
@@ -97,7 +105,8 @@ export function createCatalog({ state: layerState, services, parts, source }) {
 
       const entries = parts.orbits.parseTLE(text);
       const style = POINT_STYLES.dense;
-      const now = new Date(layerState.now());
+      const nowMs = layerState.now();
+      const gmst = gstime(new Date(nowMs));
       let added = 0;
 
       for (let start = 0; start < entries.length; start += DENSE_CREATE_CHUNK) {
@@ -116,8 +125,9 @@ export function createCatalog({ state: layerState, services, parts, source }) {
           if (!satrec || satrec.error !== 0) continue;
           const noradId = noradIdFromSatnum(satrec.satnum);
           if (layerState._catalog.has(noradId)) continue; // core catalog keeps priority
-          const pos = parts.orbits.propagatePosition(satrec, now);
-          if (!pos) continue;
+          // Its first sample places it now and moves it from then on.
+          const orbitSample = sampleOrbit(satrec, nowMs);
+          if (!orbitSample) continue;
 
           layerState._catalog.set(noradId, {
             name: entry.name,
@@ -131,12 +141,14 @@ export function createCatalog({ state: layerState, services, parts, source }) {
             ucs: null,
             satcat: null,
             sensor: null,
+            orbitSample,
           });
           const point = layerState._pointCollection.add({
-            position: Cesium.Cartesian3.fromDegrees(
-              pos.longitude,
-              pos.latitude,
-              pos.altitude,
+            position: reckonEarthFixed(
+              orbitSample,
+              nowMs,
+              gmst,
+              new Cesium.Cartesian3(),
             ),
             pixelSize: style.pixelSize,
             color: style.color,

src/layers/satellites/motion.js

@@ -0,0 +1,80 @@
+import { propagate } from 'satellite.js';
+
+/** The Earth's gravitational parameter, km³/s², as SGP4's WGS72 constants. */
+const MU_KM3_S2 = 398600.8;
+
+/** Floats in one orbit sample: its time, then position, velocity,
+ * acceleration and jerk. */
+export const ORBIT_SAMPLE_LENGTH = 13;
+
+/**
+ * One SGP4 state of a satellite for dead reckoning: its inertial (TEME)
+ * position and velocity at `atMs`, with the two-body acceleration and its
+ * rate of change (jerk) there.
+ * Layout: [atMs, rx, ry, rz (km), vx, vy, vz (km/s), ax, ay, az (km/s²),
+ * jx, jy, jz (km/s³)].
+ * @param {object} satrec
+ * @param {number} atMs Epoch milliseconds.
+ * @param {Float64Array} [out]
+ * @returns {Float64Array|null} Null when SGP4 has no state for that time.
+ */
+export function sampleOrbit(
+  satrec,
+  atMs,
+  out = new Float64Array(ORBIT_SAMPLE_LENGTH),
+) {
+  let state;
+  try {
+    state = propagate(satrec, new Date(atMs));
+  } catch {
+    return null;
+  }
+  const p = state?.position;
+  const v = state?.velocity;
+  if (!p || typeof p === 'boolean' || !v || typeof v === 'boolean') return null;
+  const r = Math.hypot(p.x, p.y, p.z);
+  if (!(r > 0) || !Number.isFinite(v.x + v.y + v.z)) return null;
+  const k = -MU_KM3_S2 / (r * r * r);
+  // d/dt of -μ r/|r|³: -μ (v/|r|³ - 3 (r·v) r/|r|⁵).
+  const radial = (3 * (p.x * v.x + p.y * v.y + p.z * v.z)) / (r * r);
+  out[0] = atMs;
+  out[1] = p.x;
+  out[2] = p.y;
+  out[3] = p.z;
+  out[4] = v.x;
+  out[5] = v.y;
+  out[6] = v.z;
+  out[7] = k * p.x;
+  out[8] = k * p.y;
+  out[9] = k * p.z;
+  out[10] = k * (v.x - radial * p.x);
+  out[11] = k * (v.y - radial * p.y);
+  out[12] = k * (v.z - radial * p.z);
+  return out;
+}
+
+/**
+ * Where a satellite is at `atMs`, reckoned from its sample along the inertial
+ * path (position, velocity, gravity and its change) and turned into the
+ * Earth-fixed frame by the Greenwich sidereal angle at that time. Over half a
+ * minute of world time the reckoned point stays within metres of SGP4.
+ * @param {Float64Array} sample From sampleOrbit.
+ * @param {number} atMs Epoch milliseconds.
+ * @param {number} gmst Greenwich mean sidereal angle at `atMs`, radians.
+ * @param {{x: number, y: number, z: number}} out Receives Earth-fixed metres.
+ * @returns {{x: number, y: number, z: number}} `out`.
+ */
+export function reckonEarthFixed(sample, atMs, gmst, out) {
+  const dt = (atMs - sample[0]) / 1000;
+  const half = 0.5 * dt * dt;
+  const sixth = (half * dt) / 3;
+  const x = sample[1] + sample[4] * dt + sample[7] * half + sample[10] * sixth;
+  const y = sample[2] + sample[5] * dt + sample[8] * half + sample[11] * sixth;
+  const z = sample[3] + sample[6] * dt + sample[9] * half + sample[12] * sixth;
+  const cos = Math.cos(gmst);
+  const sin = Math.sin(gmst);
+  out.x = (x * cos + y * sin) * 1000;
+  out.y = (-x * sin + y * cos) * 1000;
+  out.z = z * 1000;
+  return out;
+}

src/layers/satellites/motion.test.mjs

@@ -0,0 +1,86 @@
+// src/layers/satellites/motion.test.mjs — a satellite's point reckoned from
+// one SGP4 sample stays on SGP4's track between samples.
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import * as Cesium from 'cesium';
+import { gstime, twoline2satrec } from 'satellite.js';
+import { createOrbits } from './orbits.js';
+import { reckonEarthFixed, sampleOrbit } from './motion.js';
+
+const ISS = twoline2satrec(
+  '1 25544U 98067A   08264.51782528 -.00002182  00000-0 -11606-4 0  2927',
+  '2 25544  51.6416 247.4627 0006703 130.5360 325.0288 15.72125391563537',
+);
+const AT_MS = Date.UTC(2008, 8, 20, 12, 30, 0);
+const orbits = createOrbits({ state: {}, services: {}, parts: {} });
+
+/** Where the layer has always drawn a satellite: SGP4, through geodetic. */
+function drawnBySgp4(atMs) {
+  const pos = orbits.propagatePosition(ISS, new Date(atMs));
+  return Cesium.Cartesian3.fromDegrees(
+    pos.longitude,
+    pos.latitude,
+    pos.altitude,
+  );
+}
+
+function reckoned(sample, atMs) {
+  return reckonEarthFixed(
+    sample,
+    atMs,
+    gstime(new Date(atMs)),
+    new Cesium.Cartesian3(),
+  );
+}
+
+test('at its own time the reckoned point is where SGP4 draws it', () => {
+  const sample = sampleOrbit(ISS, AT_MS);
+  const gap = Cesium.Cartesian3.distance(
+    reckoned(sample, AT_MS),
+    drawnBySgp4(AT_MS),
+  );
+  assert.ok(gap < 1, `${gap} m`);
+});
+
+test('between samples the point keeps to the SGP4 track', () => {
+  const sample = sampleOrbit(ISS, AT_MS);
+  for (const [seconds, withinM] of [
+    [0.016, 1],
+    [1, 2],
+    [10, 2],
+    [30, 10],
+    [60, 50],
+  ]) {
+    const atMs = AT_MS + seconds * 1000;
+    const gap = Cesium.Cartesian3.distance(
+      reckoned(sample, atMs),
+      drawnBySgp4(atMs),
+    );
+    assert.ok(gap < withinM, `${seconds} s: ${gap} m`);
+  }
+});
+
+test('the point moves every frame, at orbital speed', () => {
+  const sample = sampleOrbit(ISS, AT_MS);
+  const a = reckoned(sample, AT_MS + 500);
+  const b = reckoned(sample, AT_MS + 516);
+  const speed = Cesium.Cartesian3.distance(a, b) / 0.016;
+  // ISS ground-relative speed: about 7.2–7.7 km/s.
+  assert.ok(speed > 7000 && speed < 8000, `${speed} m/s`);
+});
+
+test('reckoning backwards in time works as forwards', () => {
+  const sample = sampleOrbit(ISS, AT_MS);
+  const atMs = AT_MS - 30_000;
+  const gap = Cesium.Cartesian3.distance(
+    reckoned(sample, atMs),
+    drawnBySgp4(atMs),
+  );
+  assert.ok(gap < 10, `${gap} m`);
+});
+
+test('an element set SGP4 cannot propagate has no sample', () => {
+  const decayed = { ...ISS, error: 0 };
+  decayed.ecco = 2; // not an orbit
+  assert.equal(sampleOrbit(decayed, AT_MS), null);
+});

src/layers/satellites/policy.js

@@ -31,7 +31,16 @@ export const ISS_OVERLAY_SOURCE_OPTIONS = Object.freeze({
 export const ORBIT_PATH_STEPS = 180;
 // points per orbital path
 
+/** How often every core satellite takes a fresh SGP4 sample (wall ms). */
 export const POSITION_UPDATE_MS = 1000;
+/**
+ * Between SGP4 samples every point is reckoned each frame from its last one
+ * (motion.js). A sample this far from the world time is taken again, so a
+ * point is never more than about 10 m off SGP4 however fast time plays.
+ */
+export const ORBIT_SAMPLE_HORIZON_MS = 30_000;
+/** Beyond this from its sample a point is left where it is until sampled again. */
+export const ORBIT_RECKON_LIMIT_MS = 120_000;
 /** How far either side of now SGP4 on current element sets stays meaningful. */
 export const SATELLITE_COVERAGE_MS = 14 * 24 * 3_600_000;
 
@@ -41,7 +50,6 @@ export const SATELLITE_COVERAGE_MS = 14 * 24 * 3_600_000;
  * drifts a few degrees a day.
  */
 export const ORBIT_REBAKE_MS = 30 * 60_000;
-// re-propagate every 1s (SGP4 is smooth at this rate)
 
 export const RING_ROTATION_MS = 1000;
 // re-align baked orbit rings to current GMST every 1s
@@ -80,6 +88,14 @@ export const DENSE_GROUP_PATH = 'starlink';
 export const DENSE_REFRESH_FRAMES = 300;
 // full dense pass spread over ~300 frames (~5s @ 60fps)
 
+/**
+ * The most dense extras sampled in one frame while time plays fast (~4 ms).
+ * Past about 10 minutes of world time a second the full dense set no longer
+ * fits within ORBIT_RECKON_LIMIT_MS, and its points move only as they are
+ * sampled.
+ */
+export const DENSE_SAMPLES_PER_FRAME_MAX = 2000;
+
 export const DENSE_CREATE_CHUNK = 1500;
 // satrec builds per macro-task while loading
 

src/layers/satellites/reckon.test.mjs

@@ -0,0 +1,157 @@
+// src/layers/satellites/reckon.test.mjs — every frame each shown point moves
+// to where its satellite is at the world time; samples are taken again when
+// time has moved far from them, and dense extras are sampled faster the
+// faster time plays.
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import * as Cesium from 'cesium';
+import { twoline2satrec } from 'satellite.js';
+import { createCatalog } from './catalog.js';
+import { createOrbits } from './orbits.js';
+import { createRendering } from './rendering.js';
+import { sampleOrbit } from './motion.js';
+import {
+  DENSE_REFRESH_FRAMES,
+  DENSE_SAMPLES_PER_FRAME_MAX,
+  ORBIT_RECKON_LIMIT_MS,
+  ORBIT_SAMPLE_HORIZON_MS,
+} from './policy.js';
+
+const ISS = twoline2satrec(
+  '1 25544U 98067A   08264.51782528 -.00002182  00000-0 -11606-4 0  2927',
+  '2 25544  51.6416 247.4627 0006703 130.5360 325.0288 15.72125391563537',
+);
+const AT_MS = Date.UTC(2008, 8, 20, 12, 30, 0);
+const orbits = createOrbits({ state: {}, services: {}, parts: {} });
+
+/** A point primitive that counts position writes. */
+function point(show = true) {
+  let position = new Cesium.Cartesian3();
+  return {
+    show,
+    writes: 0,
+    get position() {
+      return position;
+    },
+    set position(value) {
+      this.writes++;
+      position = Cesium.Cartesian3.clone(value);
+    },
+  };
+}
+
+function scene(entries, { tracked = null } = {}) {
+  const state = {
+    _points: new Map(),
+    _catalog: new Map(),
+    _trackedNorad: tracked,
+    _denseIds: [],
+    _denseCursor: 0,
+  };
+  for (const [id, entry] of Object.entries(entries)) {
+    state._points.set(id, entry.point);
+    state._catalog.set(id, { satrec: ISS, group: 'core', ...entry.sat });
+  }
+  const rendering = createRendering({
+    state,
+    services: { focus: {} },
+    parts: {},
+  });
+  return { state, rendering };
+}
+
+function sgp4At(atMs) {
+  const pos = orbits.propagatePosition(ISS, new Date(atMs));
+  return Cesium.Cartesian3.fromDegrees(
+    pos.longitude,
+    pos.latitude,
+    pos.altitude,
+  );
+}
+
+test('a shown point moves to its satellite at the world time; hidden and tracked ones do not', () => {
+  const shown = point();
+  const hidden = point(false);
+  const tracked = point();
+  const { rendering } = scene(
+    {
+      shown: { point: shown },
+      hidden: { point: hidden },
+      tracked: { point: tracked },
+    },
+    { tracked: 'tracked' },
+  );
+  rendering._reckonPoints(AT_MS);
+  assert.ok(Cesium.Cartesian3.distance(shown.position, sgp4At(AT_MS)) < 1);
+  assert.equal(hidden.writes, 0);
+  assert.equal(tracked.writes, 0);
+  // The same time again (the clock paused): nothing is written.
+  rendering._reckonPoints(AT_MS);
+  assert.equal(shown.writes, 1);
+  // Shown while paused, a hidden point moves at once.
+  hidden.show = true;
+  rendering._reckonPoints(AT_MS);
+  assert.equal(hidden.writes, 1);
+});
+
+test('between samples the point keeps to the track; far from its sample, a core satellite is sampled again', () => {
+  const p = point();
+  const { state, rendering } = scene({ iss: { point: p } });
+  rendering._reckonPoints(AT_MS);
+  const sample = state._catalog.get('iss').orbitSample;
+  assert.equal(sample[0], AT_MS);
+  // Within the horizon the same sample moves it on.
+  const soon = AT_MS + ORBIT_SAMPLE_HORIZON_MS / 2;
+  rendering._reckonPoints(soon);
+  assert.equal(state._catalog.get('iss').orbitSample[0], AT_MS);
+  assert.ok(Cesium.Cartesian3.distance(p.position, sgp4At(soon)) < 5);
+  // A seek an hour back samples it again there.
+  const back = AT_MS - 3_600_000;
+  rendering._reckonPoints(back);
+  assert.equal(state._catalog.get('iss').orbitSample[0], back);
+  assert.ok(Cesium.Cartesian3.distance(p.position, sgp4At(back)) < 1);
+});
+
+test('a dense extra is left for its round-robin, and stays put once too far from its sample', () => {
+  const p = point();
+  const { rendering } = scene({
+    starlink: {
+      point: p,
+      sat: { group: 'dense', orbitSample: sampleOrbit(ISS, AT_MS) },
+    },
+  });
+  rendering._reckonPoints(AT_MS + ORBIT_SAMPLE_HORIZON_MS * 2);
+  assert.equal(p.writes, 1, 'reckoned from its own sample');
+  rendering._reckonPoints(AT_MS + ORBIT_RECKON_LIMIT_MS + 1);
+  assert.equal(p.writes, 1, 'too far: left where it is');
+});
+
+test('the dense slice grows with how fast the world time moves, up to its cap', () => {
+  const sampled = (count, worldStepMs) => {
+    const state = {
+      _denseIds: [],
+      _denseCursor: 0,
+      _catalog: new Map(),
+      _trackedNorad: null,
+      now: () => AT_MS,
+    };
+    for (let i = 0; i < count; i++) {
+      state._denseIds.push(String(i));
+      state._catalog.set(String(i), { satrec: ISS, group: 'dense' });
+    }
+    createCatalog({
+      state,
+      services: {},
+      parts: {},
+      source: {},
+    })._propagateDenseChunk(worldStepMs);
+    return [...state._catalog.values()].filter((sat) => sat.orbitSample).length;
+  };
+  // Real time: the set over DENSE_REFRESH_FRAMES frames.
+  assert.equal(sampled(3000, 16), Math.ceil(3000 / DENSE_REFRESH_FRAMES));
+  // A tenth of the horizon a frame: a tenth of the set.
+  assert.equal(sampled(3000, ORBIT_SAMPLE_HORIZON_MS / 10), 300);
+  // A seek, or the first frame: as many as the cap allows.
+  assert.equal(sampled(3000, Number.NaN), DENSE_SAMPLES_PER_FRAME_MAX);
+  assert.equal(sampled(1000, -ORBIT_SAMPLE_HORIZON_MS * 5), 1000);
+});

src/layers/satellites/rendering.js

@@ -1,12 +1,18 @@
 import * as Cesium from 'cesium';
 import { gstime } from 'satellite.js';
+import { reckonEarthFixed, sampleOrbit } from './motion.js';
 import {
   ISS_NORAD,
   ORBIT_REBAKE_MS,
+  ORBIT_RECKON_LIMIT_MS,
+  ORBIT_SAMPLE_HORIZON_MS,
   POSITION_UPDATE_MS,
   RING_ROTATION_MS,
 } from './policy.js';
 
+/** Scratch for a point's reckoned position. */
+const _reckoned = new Cesium.Cartesian3();
+
 export function createRendering({
   state: layerState,
   services,
@@ -158,40 +164,73 @@ export function createRendering({
   }
 
   /**
-   * Propagate all CORE satellite positions and update point primitives.
-   * (About 1,300 core satellites: ~840 measured at ≈ 1.6 ms/pass, so ≈ 2.5 ms,
-   * fine at the 1s/200ms cadence.) Dense extras are
-   * excluded: they refresh on the round-robin budget in _propagateDenseChunk.
+   * Take a fresh SGP4 sample of every CORE satellite (motion.js); the points
+   * move from these each frame in _reckonPoints. (About 1,300 core
+   * satellites: ~840 measured at ≈ 1.6 ms/pass, so ≈ 2.5 ms, fine at the
+   * 1s/200ms cadence.) Dense extras are excluded: they are sampled on the
+   * round-robin budget in _propagateDenseChunk.
+   * @returns {number} How many satellites were sampled.
    */
 
   function _propagateAll() {
-    const now = new Date(layerState.now());
+    const nowMs = layerState.now();
     let updated = 0;
 
-    for (const [noradId, sat] of layerState._catalog) {
+    for (const sat of layerState._catalog.values()) {
       if (sat.group === 'dense') continue;
-      const pos = parts.orbits.propagatePosition(sat.satrec, now);
-      if (!pos) continue;
-
-      const cartesian = Cesium.Cartesian3.fromDegrees(
-        pos.longitude,
-        pos.latitude,
-        pos.altitude,
-      );
-      const point = layerState._points.get(noradId);
-      if (point) {
-        point.position = cartesian;
-        updated++;
-      }
+      if (_sample(sat, nowMs)) updated++;
     }
 
     return updated;
   }
 
+  /**
+   * Sample one satellite's orbit at `atMs` into its reused sample.
+   * @returns {boolean} Whether SGP4 had a state for that time.
+   */
+
+  function _sample(sat, atMs) {
+    const sample = sampleOrbit(sat.satrec, atMs, sat.orbitSample);
+    if (!sample) return false;
+    sat.orbitSample = sample;
+    return true;
+  }
+
+  /**
+   * Move every shown point to where its satellite is at the world time,
+   * reckoned from its last sample, so points glide every frame between
+   * samples instead of stepping once a second. A core sample more than
+   * ORBIT_SAMPLE_HORIZON_MS from the world time (time playing fast, or a
+   * seek) is taken again first; dense extras are resampled by their own
+   * round-robin. A hidden point is moved when it is shown again, and the
+   * tracked satellite is placed by its per-frame path.
+   * @param {number} nowMs World time, epoch ms.
+   */
+
+  function _reckonPoints(nowMs) {
+    const gmst = gstime(new Date(nowMs));
+    for (const [noradId, point] of layerState._points) {
+      if (!point.show || noradId === layerState._trackedNorad) continue;
+      const sat = layerState._catalog.get(noradId);
+      if (!sat || sat.reckonedAtMs === nowMs) continue;
+      let sample = sat.orbitSample;
+      if (
+        sat.group !== 'dense' &&
+        (!sample || Math.abs(nowMs - sample[0]) > ORBIT_SAMPLE_HORIZON_MS)
+      )
+        sample = _sample(sat, nowMs) ? sat.orbitSample : null;
+      if (!sample || Math.abs(nowMs - sample[0]) > ORBIT_RECKON_LIMIT_MS)
+        continue;
+      point.position = reckonEarthFixed(sample, nowMs, gmst, _reckoned); // setter clones
+      sat.reckonedAtMs = nowMs;
+    }
+  }
+
   /**
    * Shared scene.preRender tick (single definition for init + enable):
-   * - core fleet propagation at 200ms-tracked / 1s-idle cadence,
-   * - dense extras on a per-frame round-robin budget,
+   * - core fleet SGP4 samples at 200ms-tracked / 1s-idle cadence,
+   * - dense extras sampled on a per-frame round-robin budget,
+   * - every point reckoned from its sample each frame (motion.js),
    * - tracked satellite's point primitive per frame (WS-D2),
    * - orbit ring GMST re-alignment every ~1s (WS-D1).
    */
@@ -213,7 +252,12 @@ export function createRendering({
       layerState._lastPropagation = now;
     }
 
-    if (layerState._params.showPoints) parts.catalog._propagateDenseChunk();
+    if (layerState._params.showPoints) {
+      const worldMs = layerState.now();
+      parts.catalog._propagateDenseChunk(worldMs - layerState._lastReckonMs);
+      layerState._lastReckonMs = worldMs;
+      _reckonPoints(worldMs);
+    }
 
     // Keep the tracked dot on the per-frame epoch shared with label + camera —
     // runs after _propagateAll so the per-frame sample wins over the 200ms one.
@@ -339,6 +383,7 @@ export function createRendering({
     _updateOrbitPathRotations,
     _hideOrbitPath,
     _propagateAll,
+    _reckonPoints,
     _preRenderTick,
     _updatePointFocus,
     applySatellitePointFocusDeemphasis,

src/layers/satellites/state.js

@@ -64,6 +64,10 @@ export function createState({ services }) {
 
   state._lastPropagation = 0;
 
+  // The world time of the last frame that reckoned the points (motion.js),
+  // NaN before the first.
+  state._lastReckonMs = NaN;
+
   state._lastRingRotation = 0;
 
   state._lastFocusUpdate = 0;

src/layers/satellites/tracking.js

@@ -429,7 +429,7 @@ export function createTracking({ state: layerState, services, parts, source }) {
 
     // Tracked entity position propagates per evaluation through the per-frame
     // cache (WS-D2) — dot, host readout, and camera share one SGP4 epoch per frame.
-    // Falls back to the point primitive's 1s-throttled position if SGP4 fails.
+    // Falls back to the point primitive's reckoned position if SGP4 fails.
     const positionProperty = new Cesium.CallbackProperty(() => {
       const pos = _getTrackedFramePosition();
       return pos ? layerState._trackedFrameCartesian : point.position;