what are the milankovitch cycles?

Milankovitch cycles are the collective effect of changes in the Earth's movements upon its climate, named after Serbian civil engineer and mathematician Milutin Milankovi?. The eccentricity, axial tilt, and precession of the Earth's orbit vary in several patterns, resulting in 100,000-year ice age cycles of the Quaternary glaciation over the last few million years. The Earth's axis completes one full cycle of precession approximately every 26,000 years. At the same time, the elliptical orbit rotates, more slowly, leading to a 21,000-year cycle between the seasons and the orbit. In addition, the angle between Earth's rotational axis and the normal to the plane of its orbit moves from 22.1 degrees to 24.5 degrees and back again on a 41,000-year cycle. Currently, this angle is 23.44 degrees and is decreasing.