notethatdifferentoperatingsystems，differentmathematicallibraries，anddifferenthardwarearchitecturesresultindifferentnumericalerrors，throughthevariationsinround-offerrorhandlingandnumericalalgorithms.intheupperpaneloffig.1，wecanrecognizethissituationinthesecularnumericalerrorinthetotalangularmomentum，whichshouldberigorouslypreserveduptomachine-εprecision.

2.4.2errorinplanetarylongitudes

sincethesymplecticmapspreservetotalenergyandtotalangularmomentumofn-bodydynamicalsystemsinherentlywell，thedegreeoftheirpreservationmaynotbeagoodmeasureoftheaccuracyofnumericalintegrations，especiallyasameasureofthepositionalerrorofplanets，i.e.theerrorinplanetarylongitudes.toestimatethenumericalerrorintheplanetarylongitudes，weperformedthefollowingprocedures.wecomparedtheresultofourmainlong-termintegrationswithsometestintegrations，whichspanmuchshorterperiodsbutwithmuchhigheraccuracythanthemainintegrations.forthispurpose，weperformedamuchmoreaccurateintegrationwithastepsizeof0.125d(164ofthemainintegrations)spanning3×105yr，startingwiththesameinitialconditionsasinthen?1integration.weconsiderthatthistestintegrationprovidesuswitha‘pseudo-true’solutionofplanetaryorbitalevolution.next，wecomparethetestintegrationwiththemainintegration，n?1.fortheperiodof3×105yr，weseeadifferenceinmeananomaliesoftheearthbetweenthetwointegrationsof～0.52°(inthecaseofthen?1integration).thisdifferencecanbeextrapolatedtothevalue～8700°，about25rotationsofearthafter5gyr，sincetheerroroflongitudesincreaseslinearlywithtimeinthesymplecticmap.similarly，thelongitudeerrorofplutocanbeestimatedas～12°.thisvalueforplutoismuchbetterthantheresultinkinoshita&&nakai(1996)wherethedifferenceisestimatedas～60°.

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3numericalresults–i.glanceattherawdata

inthissectionwebrieflyreviewthelong-termstabilityofplanetaryorbitalmotionthroughsomesnapshotsofrawnumericaldata.theorbitalmotionofplanetsindicateslong-termstabilityinallofournumericalintegrations:noorbitalcrossingsnorcloseencountersbetweenanypairofplanetstookplace.

3.1generaldescriptionofthestabilityofplanetaryorbits

first，webrieflylookatthegeneralcharacterofthelong-termstabilityofplanetaryorbits.ourinterestherefocusesparticularlyontheinnerfourterrestrialplanetsforwhichtheorbitaltime-scalesaremuchshorterthanthoseoftheouterfiveplanets.aswecanseeclearlyfromtheplanarorbitalconfigurationsshowninfigs2and3，orbitalpositionsoftheterrestrialplanetsdifferlittlebetweentheinitialandfinalpartofeachnumericalintegration，whichspansseveralgyr.thesolidlinesdenotingthepresentorbitsoftheplanetsliealmostwithintheswarmofdotseveninthefinalpartofintegrations(b)and(d).thisindicatesthatthroughouttheentireintegrationperiodthealmostregularvariationsofplanetaryorbitalmotionremainnearlythesameastheyareatpresent.

verticalviewofthefourinnerplanetaryorbits(fromthez-axisdirection)attheinitialandfinalpartsoftheintegrationsn±1.theaxesunitsareau.thexy-planeissettotheinvariantplaneofsolarsystemtotalangularmomentum.(a)theinitialpartofn+1(t=0to0.0547×109yr).(b)thefinalpartofn+1(t=4.9339×108to4.9886×109yr).(c)theinitialpartofn?1(t=0to?0.0547×109yr).(d)thefinalpartofn?1(t=?3.9180×109to?3.9727×109yr).ineachpanel，atotalof23684pointsareplottedwithanintervalofabout2190yrover5.47×107yr.solidlinesineachpaneldenotethepresentorbitsofthefourterrestrialplanets(takenfromde245).

thevariationofeccentricitiesandorbitalinclinationsfortheinnerfourplanetsintheinitialandfinalpartoftheintegrationn+1isshowninfig.4.asexpected，thecharacterofthevariationofplanetaryorbitalelementsdoesnotdiffersignificantlybetweentheinitialandfinalpartofeachintegration，atleastforvenus，earthandmars.theelementsofmercury，especiallyitseccentricity，seemtochangetoasignificantextent.thisispartlybecausetheorbitaltime-scaleoftheplanetistheshortestofalltheplanets，whichleadstoamorerapidorbitalevolutionthanotherplanets;theinnermostplanetmaybenearesttoinstability.thisresultappearstobeinsomeagreementwithlaskar's(1994，1996)expectationsthatlargeandirregularvariationsappearintheeccentricitiesandinclinationsofmercuryonatime-scaleofseveral109yr.however，theeffectofthepossibleinstabilityoftheorbitofmercurymaynotfatallyaffecttheglobalstabilityofthewholeplanetarysystemowingtothesmallmassofmercury.wewillmentionbrieflythelong-termorbitalevolutionofmercurylaterinsection4usinglow-passfilteredorbitalelements.

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theorbitalmotionoftheouterfiveplanetsseemsrigorouslystableandquiteregularoverthistime-span(seealsosection5).

3.2time–frequencymaps

althoughtheplanetarymotionexhibitsverylong-termstabilitydefinedasthenon-existenceofcloseencounterevents，thechaoticnatureofplanetarydynamicscanchangetheoscillatoryperiodandamplitudeofplanetaryorbitalmotiongraduallyoversuchlongtime-spans.evensuchslightfluctuationsoforbitalvariationinthefrequencydomain，particularlyinthecaseofearth，canpotentiallyhaveasignificanteffectonitssurfaceclimatesystemthroughsolarinsolationvariation(cf.berger1988).

togiveanoverviewofthelong-termchangeinperiodicityinplanetaryorbitalmotion，weperformedmanyfastfouriertransformations(ffts)alongthetimeaxis，andsuperposedtheresultingperiodgramstodrawtwo-dimensionaltime–frequencymaps.thespecificapproachtodrawingthesetime–frequencymapsinthispaperisverysimple–muchsimplerthanthewaveletanalysisorlaskar's(1990，1993)frequencyanalysis.

dividethelow-passfilteredorbitaldataintomanyfragmentsofthesamelenh.thelenhofeachdatasegmentshouldbeamultipleof2inordertoapplythefft.

eachfragmentofthedatahasalargeoverlappingpart:forexample，whentheithdatabeginsfromt=tiandendsatt=ti+t，thenextdatasegmentrangesfromti+δt≤ti+δt+t，whereδt?t.wecontinuethisdivisionuntilwereachacertainnumbernbywhichtn+treachesthetotalintegrationlenh.

weapplyanffttoeachofthedatafragments，andobtainnfrequencydiagrams.

ineachfrequencydiagramobtainedabove，thestrenhofperiodicitycanbereplacedbyagrey-scale(orcolour)chart.

weperformthereplacement，andconnectallthegrey-scale(orcolour)chartsintoonegraphforeachintegration.thehorizontalaxisofthesenewgraphsshouldbethetime，i.e.thestartingtimesofeachfragmentofdata(ti，wherei=1，…，n).theverticalaxisrepresentstheperiod(orfrequency)oftheoscillationoforbitalelements.

wehaveadoptedanfftbecauseofitsoverwhelmingspeed，sincetheamountofnumericaldatatobedecomposedintofrequencycomponentsisterriblyhuge(severaltensofgbytes).

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atypicalexampleofthetime–frequencymapcreatedbytheaboveproceduresisshowninagrey-scalediagramasfig.5，whichshowsthevariationofperiodicityintheeccentricityandinclinationofearthinn+2integration.infig.5，thedarkareashowsthatatthetimeindicatedbythevalueontheabscissa，theperiodicityindicatedbytheordinateisstrongerthaninthelighterareaaroundit.wecanrecognizefromthismapthattheperiodicityoftheeccentricityandinclinationofearthonlychangesslightlyovertheentireperiodcoveredbythen+2integration.thisnearlyregulartrendisqualitativelythesameinotherintegrationsandforotherplanets，althoughtypicalfrequenciesdifferplanetbyplanetandelementbyelement.

4.2long-termexchangeoforbitalenergyandangularmomentum

wecalculateverylong-periodicvariationandexchangeofplanetaryorbitalenergyandangularmomentumusingfiltereddelaunayelementsl，g，h.gandhareequivalenttotheplanetaryorbitalangularmomentumanditsverticalcomponentperunitmass.lisrelatedtotheplanetaryorbitalenergyeperunitmassase=?μ22l2.ifthesystemiscompletelylinear，theorbitalenergyandtheangularmomentumineachfrequencybinmustbeconstant.non-linearityintheplanetarysystemcancauseanexchangeofenergyandangularmomentuminthefrequencydomain.theamplitudeofthelowest-frequencyoscillationshouldincreaseifthesystemisunstableandbreaksdowngradually.however，suchasymptomofinstabilityisnotprominentinourlong-termintegrations.

infig.7，thetotalorbitalenergyandangularmomentumofthefourinnerplanetsandallnineplanetsareshownforintegrationn+2.theupperthreepanelsshowthelong-periodicvariationoftotalenergy(denotedase-e0)，totalangularmomentum(g-g0)，andtheverticalcomponent(h-h0)oftheinnerfourplanetscalculatedfromthelow-passfiltereddelaunayelements.e0，g0，h0denotetheinitialvaluesofeachquantity.theabsolutedifferencefromtheinitialvaluesisplottedinthepanels.thelowerthreepanelsineachfigureshowe-e0，g-g0andh-h0ofthetotalofnineplanets.thefluctuationshowninthelowerpanelsisvirtuallyentirelyaresultofthemassivejovianplanets.

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comparingthevariationsofenergyandangularmomentumoftheinnerfourplanetsandallnineplanets，itisapparentthattheamplitudesofthoseoftheinnerplanetsaremuchsmallerthanthoseofallnineplanets:theamplitudesoftheouterfiveplanetsaremuchlargerthanthoseoftheinnerplanets.thisdoesnotmeanthattheinnerterrestrialplanetarysubsystemismorestablethantheouterone:thisissimplyaresultoftherelativesmallnessofthemassesofthefourterrestrialplanetscomparedwiththoseoftheouterjovianplanets.anotherthingwenoticeisthattheinnerplanetarysubsystemmaybecomeunstablemorerapidlythantheouteronebecauseofitsshorterorbitaltime-scales.thiscanbeseeninthepanelsdenotedasinner4infig.7wherethelonger-periodicandirregularoscillationsaremoreapparentthaninthepanelsdenotedastotal9.actually，thefluctuationsintheinner4panelsaretoalargeextentasaresultoftheorbitalvariationofthemercury.however，wecannotneglectthecontributionfromotherterrestrialplanets，aswewillseeinsubsequentsections.

4.4long-termcouplingofseveralneighbouringplanetpairs

letusseesomeindividualvariationsofplanetaryorbitalenergyandangularmomentumexpressedbythelow-passfiltereddelaunayelements.figs10and11showlong-termevolutionoftheorbitalenergyofeachplanetandtheangularmomentuminn+1andn?2integrations.wenoticethatsomeplanetsformapparentpairsintermsoforbitalenergyandangularmomentumexchange.inparticular，venusandearthmakeatypicalpair.inthefigures，theyshownegativecorrelationsinexchangeofenergyandpositivecorrelationsinexchangeofangularmomentum.thenegativecorrelationinexchangeoforbitalenergymeansthatthetwoplanetsformacloseddynamicalsystemintermsoftheorbitalenergy.thepositivecorrelationinexchangeofangularmomentummeansthatthetwoplanetsaresimultaneouslyundercertainlong-termperturbations.candidatesforperturbersarejupiterandsaturn.alsoinfig.11，wecanseethatmarsshows'itivecorrelationintheangularmomentumvariationtothevenus–earthsystem.mercuryexhibitscertainnegativecorrelationsintheangularmomentumversusthevenus–earthsystem，whichseemstobeareactioncausedbytheconservationofangularmomentumintheterrestrialplanetarysubsystem.

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