Spacecraft service device and related components, systems and methods

Abstract

The present invention relates to a spacecraft servicing device or pod and related methods, which can be configured to be deployed from a carrier spacecraft and includes at least one spacecraft servicing component, the at least one spacecraft servicing component configured to perform at least one servicing operation on a target spacecraft. The spacecraft servicing device can be configured to be transported from an initial orbit to another orbit after the spacecraft servicing device is deployed from the carrier spacecraft.

Description

[0001] Priority claim

[0002] This application claims priority to U.S. Provisional Patent Application Serial No. 62 / 792,779, filed on January 15, 2019, entitled “Spacecraft Servicing Devices and Related Assemblies, Systems, and Methods.” Technical Field

[0003] Embodiments of the present disclosure generally relate to service devices for spacecraft (e.g., satellites). In particular, embodiments of the present disclosure relate to service devices, including one or more detachable service devices (e.g., pods or modules) and related devices, systems, assemblies, and methods. Background Art

[0004] Thousands of spacecraft orbit the Earth to perform a variety of functions, including, for example, telecommunications, GPS navigation, weather forecasting, and mapping. Like all machines, spacecraft periodically require servicing to extend their functional life. Services may include, for example, component repair, refueling, orbital ascent, station keeping, momentum balance, or other maintenance. To achieve this, a service spacecraft may be launched into orbit, docked with a customer spacecraft that needs maintenance, and after docking, service life extension maintenance may be performed on the customer spacecraft. Without service life extension maintenance, these spacecraft would be out of service, and the cost of replacement is usually very expensive, and the delivery time may be as long as several years.

[0005] A review of each type of publication, including this category of astronomical equipment and other special expeditions and issues, Comprehensive beauty country interests No. 3, 508, 723, No. 4, 219, 17 1, No.4,391,423, No.4,588,150, No.4,664,344, No.4,898,348, No.5,005 ,786, No.5,040,749, No.5,094,410, No.5,299,764, No.5,364,046, No.5,372,340, No.5,490,075, No.5,511,748, No.5,735,488, No.5,803,407, No. .5,806,802, No.6,017,000, No.6,299,107, No.6,330,987, No.6,484,973, No.6,523,784, No.6,742,745, No.6,843,446, No.6,945,500, No.6,969 ,030, No.7,070,151, No.7,104,505, No.7,207,525, No.7,216,833, No.7,216,834, No.7,240,879, No.7,293,743, No.7,370,834, No.7,438,264, No. .7,461,818, No.7,484,690, No.7,513,459, No.7,513,460, No.7,575,199, No.7,588,213, No.7,611,096, No.7,611,097, No.7,624,950, No.7,815 ,149, No.7,823,837, No.7,828,249, No.7,857,261, No.7,861,974, No.7,861,975, No.7,992,824, No.8,006,937, No.8,006,938, No.8,016,242, No. .8,056,864, No.8,074,935, No.8,181,911, No.8,196,870, No.8,205,838, No.8,240,613, No.8,245,370, No.8,333,347, No.8,412,391, No.8,448,904, No.8,899,527, No.9,108,747, No.9,302,793, No.9,321,175 and No.9,399,295; US Patent Publication No.2004 / 0026571, No.2006 / 0145024, No.2006 / 0151671, No.2007 / 0228220, No.2009 / 0001221, No.2012 / 0112009, No.2012 / 0325972, No.2013 / 010319 3. No.2015 / 0008290, No.2015 / 0314893, No.2016 / 0039543 and No.2016 / 0039544; European Patent No.EP 0541052, No. 0741655B1, No. 0741655B2 and 1654159; PCT Publication Nos. 2005 / 110847, 2005 / 118394, 2014 / 024199 and 2016 / 030890; Japanese Patent No. JPH01282098; Automated Rendezvous and Docking of Spacecraft, Fehse, Wigbert, Cambridge University Press (2003); On-Orbit Servicing Missions: Challenges and Solutions for Spacecraft Operations, Sellmaier, F. et al., 2010 Space Operations Conference, AIAA 2010-2159 (2010); and Towards a Standardized Grasping and Refueling On-Orbit Servicing for GeoSpacecraft, Medina, Alberto et al., Acta Astronautica Sinica 134 1-10 (2017); DEOS – The In-Flight Technology Demonstration of German's Robotics Approach to Dispose Malfunctioned Satellites, Reintsema, D. et al., the entire disclosure of each of these patents is hereby incorporated herein by reference. .

[0006] However, a reliable and rugged service spacecraft that provides a variety of service options for a spacecraft may be cost prohibitive. On the other hand, lower cost options may not provide the variety of service options and reliable and robust service capabilities necessary for many applications. Summary of the invention

[0007] Embodiments of the present disclosure include a spacecraft service device, the spacecraft service device comprising: a body, the body being configured to be deployed from a carrier spacecraft on an initial orbit other than a geosynchronous orbit; at least one spacecraft service component, the at least one spacecraft service component being configured to perform at least one service operation on a target spacecraft while being connected to the target spacecraft; a thruster assembly, the thruster assembly being configured to change at least one of the orbit, velocity or momentum of the spacecraft service device; and a docking mechanism, the docking mechanism being used to connect the body to the target spacecraft, wherein the thruster assembly is configured to transport the body from the initial orbit to the geosynchronous orbit after the body is deployed from the carrier spacecraft.

[0008] Embodiments of the present disclosure also include a spacecraft servicing device, comprising: a body, which is configured to be deployed from a carrier spacecraft on an initial orbit other than a final destination orbit of the spacecraft servicing device; at least one spacecraft servicing component, which is configured to perform at least one service operation on a target spacecraft while being connected to the target spacecraft; and a docking mechanism, which is used to connect the body to the target spacecraft, wherein the body is configured to be transported from the initial orbit to the final destination orbit after the body is deployed from the carrier spacecraft, and wherein the docking mechanism is configured to connect to the target spacecraft with the assistance of another connected spacecraft, and the other connected spacecraft is configured to maintain and position the body relative to the target spacecraft.

[0009] Embodiments of the present disclosure also include a spacecraft service device, the spacecraft service device comprising: a thruster assembly, the thruster assembly comprising at least one thruster, wherein the thruster assembly is configured to change the orbit of the spacecraft service device from a first orbit to a second orbit while the spacecraft service device is not connected to another spacecraft; a body, the body being configured to be connected to a target spacecraft via a carrier spacecraft at a position adjacent to the target spacecraft; at least one spacecraft service component, the at least one spacecraft service component being configured to perform at least one service operation on the target spacecraft while the body is connected to the target spacecraft, wherein the at least one spacecraft service component includes the thruster assembly, and the thruster assembly is further configured to change at least one of the orbit, velocity or momentum of the target spacecraft while the body is connected to the target spacecraft; and a communication device, the communication device being configured to receive data related to at least one of the orbit, velocity or momentum of the target spacecraft from a transmission position away from the spacecraft service device.

[0010] Embodiments of the present disclosure also include a method for servicing a spacecraft. The method includes: deploying a pod in an initial orbit lower than a geosynchronous orbit; substantially transporting the pod from the initial orbit to a geosynchronous orbit; coupling the pod to a spacecraft in the geosynchronous orbit; and after coupling the pod to the spacecraft, performing at least one spacecraft servicing operation.

[0011] The above summary is not intended to describe each illustrated embodiment or every implementation of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings included in this application are incorporated into this specification and form a part thereof. These drawings illustrate embodiments of the present disclosure and are used together with this description to explain the principles of the present disclosure. These drawings are only illustrations of certain embodiments and do not limit the present disclosure.

[0013] 1A is a simplified schematic diagram of a spacecraft servicing system and a target spacecraft to be serviced, according to one or more embodiments of the present disclosure.

[0014] FIG. 1B illustrates an embodiment of a fuel tank supply device that may be implemented on one or more devices of the spacecraft servicing system of FIG. 1A .

[0015] Figure 2A is a simplified schematic diagram of a spacecraft servicing apparatus in accordance with one or more embodiments of the present disclosure.

[0016] Figure 2B is a simplified schematic diagram of a spacecraft servicing apparatus in accordance with one or more embodiments of the present disclosure.

[0017] Figure 2C to Figure 2K Various embodiments of coupling mechanisms according to one or more embodiments of the present disclosure are shown.

[0018] Figure 2L is a perspective view of a spacecraft servicing apparatus according to one or more embodiments of the present disclosure.

[0019] Figure 3 is a simplified schematic diagram of a mission extension pod according to one or more embodiments of the present disclosure.

[0020] Figure 4 is a simplified schematic diagram of a mission extension pod attached to a spacecraft in two thrust vector directions in accordance with one or more embodiments of the present disclosure.

[0021] Figure 5 is another simplified schematic diagram of a mission extension pod attached to a spacecraft in two thrust vector directions in accordance with one or more embodiments of the present disclosure.

[0022] Figure 6is a simplified schematic diagram of a resupply apparatus of a spacecraft servicing system in accordance with one or more embodiments of the present disclosure.

[0023] Figures 7 to 10 Various embodiments of a spacecraft servicing apparatus including a plurality of pods coupled to the spacecraft servicing apparatus are shown in accordance with one or more embodiments of the present disclosure.

[0024] Fig.11 is a simplified schematic diagram of another configuration of a spacecraft servicing system and a target spacecraft to be serviced in accordance with one or more embodiments of the present disclosure. DETAILED DESCRIPTION

[0025] The illustrations presented herein are not meant to be actual views of any particular apparatus, assembly, system, or parts thereof, but are merely idealized representations used to describe illustrative embodiments. The figures are not necessarily drawn to scale.

[0026] As used herein, the term "substantially" means and includes, to the extent that it will be understood by those skilled in the art, that a given parameter, property, or condition is satisfied, for example, to a lesser degree of variance within acceptable manufacturing tolerances. For example, a substantially satisfied parameter may be at least about 90% satisfied, at least about 95% satisfied, at least 99% satisfied, or 100% satisfied.

[0027] Embodiments of the present disclosure generally relate to a spacecraft servicing apparatus for providing life extension services to a spacecraft (e.g., a satellite or other vehicle) (otherwise referred to herein as a "client spacecraft" or "target spacecraft"). A spacecraft servicing system, component, or apparatus (e.g., spacecraft, vehicle) may include one or more deployable spacecraft servicing apparatuses, pods, or modules (e.g., a mission extension pod (MEP)) that are initially attached to a spacecraft servicing apparatus (e.g., a MEP mothership (MEPM) or a mission robotic vehicle (MRV)) or are later captured by a spacecraft servicing apparatus. The spacecraft servicing apparatus may then transfer the pods to / from the client spacecraft. A spacecraft servicing resupply apparatus may provide additional pods to the spacecraft servicing apparatus.

[0028] Pods (e.g., one pod, five pods, six pods, ten pods, fifteen pods, or more pods provided by a mothership) may be provided to a target spacecraft (e.g., may be individually deployed and / or attached to a spacecraft) to provide life extension services to the spacecraft, including, for example, component repair, refueling, orbit raising or other modification (e.g., deorbiting), repositioning, pitching down, station keeping, momentum balancing, momentum adjustment, supply replenishment, providing new supplies or components, and / or other maintenance. In some embodiments, the pods may be used to adjust the speed, positioning, and / or orbit of the spacecraft, including station keeping, pitching down, orbit repositioning, and disposal. In some embodiments, the pods may be used to manage momentum and provide attitude control of the spacecraft. In some embodiments, the pods may supply replacement or additional components. For example, the pod may be equipped with components (e.g., flight control components, avionics components (e.g., reaction wheels), motor components, communications components, power system components, sensor components, optical components, thermal control components, telemetry components, combinations thereof, etc.) that may be used to replace failed parts, supplement existing parts, and / or add parts and selected functions and features to the spacecraft. As a further example, the pod may include telemetry features, such as optical devices that measure the position of stars, for example using photocells or cameras (e.g., star trackers). Such one or more devices may be provided on the pod to monitor and / or modify the travel characteristics (e.g., attitude) of the spacecraft.

[0029] In some embodiments, a spacecraft service device may deploy and attach one or more of the pods to a spacecraft in need of service using a robotic spacecraft service device (e.g., one or more robotic arms capable of achieving one or more degrees of freedom with one or more end effectors for various tasks) for on-orbit satellite service. For example, a spacecraft service device may deploy and attach one or more of the pods to a portion of a spacecraft (e.g., a separation ring, an engine, an external attachment, or any other suitable mechanical attachment or connection structure, or any other suitable mechanical attachment or connection structure). In some embodiments, a spacecraft service device may capture one of the pods using a robotic service device. In some embodiments, the spacecraft service device itself may perform some service tasks before, during, and / or after the pods are deployed to the spacecraft.

[0030] The spacecraft service device travels between spacecraft in space and can install the mission extension pod on the spacecraft that needs service. In some embodiments, the spacecraft service device can attach the pod to the spacecraft and keep the pod attached for service. For example, the pod can be permanently attached to the spacecraft and essentially become another component of the spacecraft, which can communicate with the existing system of the spacecraft or may not communicate with the existing system of the spacecraft. In such an embodiment, the pod can be configured to provide service within a selected amount of time (e.g., for short-term service and / or long-term service, for example, within a few minutes, within a few weeks, within a few months, within a few years or a combination thereof). In some embodiments, the spacecraft service device or another similar device can remove the pod, replenish the pod (e.g., refuel the pod) and / or replace the pod after a selected amount of service. For example, a part of the service system (e.g., the spacecraft service device or another part, such as the resupply device discussed below) can revisit the pod to resupply (e.g., refill, replenish, supplement, etc.) one or more consumables (e.g., fuel, natural gas, parts, etc.) to the pod. In some embodiments, the spacecraft service device can attach an additional device (e.g., a box) with such consumables to the pod. In some embodiments, the spacecraft service device can detach the pod from the spacecraft, replenish and / or refurbish the pod to reinstall the pod (e.g., reuse the pod) on the same or another spacecraft.

[0031] Once the pod is attached to the spacecraft, the pod can be activated and provide, for example, orbit maintenance by changing the speed (e.g., by providing ΔV), including, for example, changing the direction of the spacecraft (e.g., by changing the orbit, position, or other orientation of the spacecraft). The mission extension pod can extend the on-orbit life of the spacecraft by providing velocity changes for the total mass of the spacecraft and the mission extension pod at the correct time and direction, for example, by replacing (e.g., completely replacing the propulsion function of the spacecraft, or by reducing the rate of spacecraft fuel consumption required to maintain the desired speed, position, and orbit). The mission extension pod can provide such velocity changes to the spacecraft according to a schedule obtained from data related to the spacecraft. In some embodiments, the data required for the scheduling schedule can be pre-programmed into the mission extension pod. In some embodiments, such a schedule and other data can be sent to the mission extension pod after the pod has been launched and / or coupled to the spacecraft. In some embodiments, the pod can be configured to provide only thrust (e.g., relatively low magnitude thrust) to the spacecraft without interacting with other systems or properties of the spacecraft. In some embodiments, the pod can be configured to provide torque around the spacecraft so that the spacecraft can adjust its momentum. In other embodiments, the pod may provide other services (eg, as discussed herein) and / or may communicate, at least in part, with one or more systems or subsystems of the spacecraft.

[0032] In some embodiments, the satellite servicing system may be configured to supply or resupply pods to the spacecraft servicing unit via a mission extension pod supply or resupply unit (MEPR) once the number of pods on the spacecraft servicing unit has been reduced or exhausted. For example, once the supply of mission extension pods is reduced or exhausted, the spacecraft servicing unit may acquire a supply of new pods (e.g., one pod, five pods, six pods, ten pods, fifteen pods, or more pods) to continue to provide life extension services to the potential spacecraft.

[0033] A mission extension pod resupply device (e.g., a spacecraft) can carry multiple (e.g., 1, 2, 3, 4, 5 or more pods) to rendezvous with a spacecraft service device and supply the pods to the device. For example, a pod resupply device with a mission extension pod can be placed in a geosynchronous orbit (GEO) or other orbit, while the spacecraft service device rendezvouses to its location. Once the spacecraft service device approaches the mission extension pod resupply device, the spacecraft service device and / or one or more devices on the pod resupply device (e.g., a robotic arm of the spacecraft service device) can reposition the mission extension pod from the mission extension pod resupply device to the spacecraft service device. In other embodiments, the pod resupply device can be configured to travel to the spacecraft service device. In other embodiments, one or more devices on the pod resupply device can be configured to supply the pod to the spacecraft service device or the pod resupply device, and the spacecraft service device can be configured to be connected together or otherwise placed in physical communication to transfer one or more of the pods. In other embodiments, the pod resupply unit can be configured to carry multiple pods (e.g., one, two, four, eight, sixteen, or more) to a different orbit from the spacecraft servicing unit, at which point the pods can travel to the spacecraft servicing unit under their own propulsion and / or power.

[0034] In some embodiments, the mission extension pod resupply unit can provide additional supplies or services to the spacecraft servicing unit. For example, the pod resupply unit can provide additional propellant to the spacecraft servicing unit for manipulation as needed. In some embodiments, the pod resupply unit can transfer propellant to the spacecraft servicing unit by refueling operations and / or by transferring a tank loaded with propellant from the resupply unit to the servicing unit (e.g., with the aid of one or more robotic arms on one or more of the spacecraft servicing unit and the resupply unit).

[0035] In some embodiments, for example, one or more of the spacecraft servicing devices and the spacecraft for mission extension pod delivery may be performed by and / or include an Improved Expendable Launch Vehicle (EELV) Secondary Payload Adapter (ESPA or ESPA Ring) class spacecraft, such as those devices known as ESPAStar developed by Northrup Grumman of Falls Church, Virginia, or any other suitable type of device, spacecraft, or launch vehicle that would be capable of being present in an appropriate geosynchronous or other orbit.

[0036] In some embodiments, one or more devices or components of a satellite servicing system may be disposed of, for example, by transporting them from a selected geosynchronous orbit to a geosynchronous dump orbit (e.g., in the case of a spacecraft servicing device and / or a mission extension pod resupply device) or by abandoning them in place on the spacecraft (e.g., in the case of a mission extension pod).

[0037] 1A shows a simplified schematic diagram of a spacecraft servicing system 10, at least a portion of which may be operated to approach, capture, dock, and / or service an apparatus (e.g., another vehicle or spacecraft 20). However, in some embodiments, the spacecraft servicing apparatus 100 may be configured to approach a spacecraft 20 and transfer one or more modules or pods 102 (e.g., a mission extension pod 102) to the spacecraft 20, as discussed in more detail below.

[0038] Such a spacecraft 20 may be in a low earth orbit, a medium earth orbit, a geosynchronous orbit, beyond a geosynchronous orbit, or in another orbit around an object such as the earth. The spacecraft 20 may include components such as engines, separation rings, and any other type of features known and / or implemented in the spacecraft art (e.g., a propulsion device or system 22, a fuel tank 24, etc.) that may be used to provide for mechanically coupling the pod 102 to the spacecraft 20. For example, the engine may be a liquid apogee engine, a solid fuel motor, a thruster, or other type of engine or motor. The engine may be positioned on a zenith deck of the spacecraft 20, which is a deck of the spacecraft that is positioned substantially relative to the earth when the spacecraft is orbiting the earth.

[0039] As shown in FIG. 1A , a spacecraft service assembly 100 may be a separate spacecraft designed to approach and service a spacecraft 20. The spacecraft service assembly 100 may facilitate providing services to the spacecraft 20, including station keeping, orbit raising, momentum adjustment (e.g., unloading momentum around one or more axes), attitude control, repositioning, deorbiting, refueling, repair, tilt-down, or other services that may be provided in orbit. The spacecraft service assembly 100 includes one or more deployable pods or modules 102 that are initially attached to the spacecraft service assembly 100 or are later captured by the spacecraft service assembly 100. The pods 102 may be provided to the spacecraft 20 (e.g., may be deployed and / or attached to the spacecraft) and may include service parts 103 (e.g., only shown in one example of the pod 102 for clarity) to provide services (e.g., provide life extension services to the spacecraft 20), including, for example, component repair, replacement and / or addition, refueling, orbit raising, station keeping, momentum balance, supply replenishment, providing new supplies, and / or other maintenance.

[0040] As shown in FIG. 1A , at least one pod may be provided from a spacecraft servicing assembly 100 and coupled to the spacecraft 20 (eg, near or along an axis extending through the center of mass of the spacecraft) to provide such services.

[0041] In some embodiments, the spacecraft servicing system 10 may include a mission extension pod supply or resupply assembly 30 configured to supply or resupply pods 102 to the spacecraft servicing assembly 100, for example, once the number of pods 102 on the spacecraft servicing assembly 100 has been reduced or depleted. For example, once the supply of mission extension pods 102 has been reduced or depleted, the spacecraft servicing assembly 100 may acquire a supply of new pods 102 (e.g., one pod, five pods, ten pods, fifteen pods, or more) to continue providing life extension services to the underlying spacecraft 20. In some embodiments, the pod resupply assembly 30 with the mission extension pods 102 may be placed in geosynchronous orbit (GEO) while the spacecraft servicing assembly 100 rendezvouses to its location. Once the spacecraft service device 100 approaches the mission extension pod resupply device 30, one or more devices on one or both of the spacecraft service device 100 and the pod resupply device 30 (e.g., a robotic arm on the spacecraft service device 100 discussed below) can reposition one or more of the mission extension pods 102 from the mission extension pod resupply device 30 to the spacecraft service device 100. In some embodiments, one of the pod resupply device 30 and the spacecraft service device 100 can be configured to hold the other in order to reposition the mission extension pod 102. For example, the spacecraft service device 100 can approach the pod resupply device 30 and dock or otherwise engage with the resupply device 30. Once docked, the spacecraft service device 100 can transfer one or more of the pods 102 from the resupply device 30 to the spacecraft service device 100 (e.g., using a robotic arm). The spacecraft service device 100 can then undock more pods and deploy them to other devices. In other embodiments, the pod resupply device 30 may be configured to travel to the spacecraft servicing device 100. In other embodiments, one or more devices (eg, a robotic arm) on the pod resupply device 30 may be configured to supply the pod 102 to the spacecraft servicing device 100.

[0042] To position the pod 102 on the target spacecraft 20, the spacecraft servicing device 100 may position and store the pod 102 in one or more mechanisms 122 ( Figure 2A), the one or more mechanisms 122 being configured to position, move, and / or install the pod within a working range of the pod. As described below, the mechanism may include one or more robotic arms 122 and / or another type of deployment device (e.g., a coupling mechanism), such as an extendable and / or expandable boom, similar to the deployment device 160 discussed below, which is configured to secure the spacecraft service device 100 to the pod 102, as described below. In some embodiments, the one or more robotic arms 122 may include one or more degrees of freedom that enable the arm 122 to move along one or more axes of motion. For example, in some embodiments, the arm 122 may include an extendable boom that can translate along one axis of motion (e.g., similar to the deployment device 160 discussed below) or include a device that can rotate and / or translate along one or more axes of motion. If utilizing a first single mechanism (e.g., an arm) is insufficient to operate, a second mechanism (e.g., a second arm or some other device capable of moving or reorienting the pod 102) may optionally be implemented to move the pod 102 within the operating range of the first mechanism for mounting the pod 102 onto the target spacecraft 20.

[0043] For example, the pod 102 may be positioned on or in the structure of the spacecraft service device 100 within the working range of one or more robotic arms. If a single arm is not sufficient, an optional second arm or other device is used to move the pod 102 into the working range of another robotic arm for installation of the pod 102 on the target spacecraft 20.

[0044] In some embodiments, the pod 102 can be positioned on one or more detachable structures within the working range of one or more robotic arms. Once the pod 102 is exhausted (e.g., completely exhausted), the detachable structure can be separated from the spacecraft service device 100. In such an embodiment, the fuel consumption of the spacecraft service device 100 can be reduced for future rendezvous and service activities.

[0045] In some embodiments, the pod 102 may be carried on another device (e.g., a pod resupply device 30 launched with the spacecraft service device 100), and then after launch, the pod 102 may be transferred to the spacecraft service device 100. For example, the spacecraft service device 100 may be used to tow the pod resupply device 30 to a geosynchronous orbit or other orbit, and then the vehicle may be separated. The spacecraft service device 100 may dock with the pod resupply device 30 using a docking mechanism on the spacecraft service device 100 and a complementary structure or one or more devices on the pod resupply device 30. Once docked, one or more robotic arms on the spacecraft service device 100 may transfer one or more pods 102 from the pod resupply device 30 to a storage location on the spacecraft service device 100. In this way, for repeated transportation of the spacecraft service device 100 and rendezvous with the target spacecraft 20, the total mass of the spacecraft service device 100 is minimized, facilitating the use of minimal fuel over the entire life cycle of the mission. Pod resupply assemblies 30 may be cooperatively controlled to place them in a desired orbital position for spacecraft servicing assembly 100 to return and resupply pod 102 .

[0046] In some embodiments, and as will be discussed below, the pod 102 may use its own propulsion and / or power to change its orbit to rendezvous with the satellite servicing assembly 100. Once in the desired location, the spacecraft servicing assembly 100 may capture the pod 102 using a docking mechanism, a robotic arm, or other capabilities present on the spacecraft servicing assembly 100. Prior to capture, the pod 102 may remain in orbit close to the satellite servicing assembly 100 or the target spacecraft 20 in order to reduce the transit time to reach the target spacecraft 20.

[0047] As described above, a portion of system 10 (e.g., pod 102, spacecraft service device 100, and / or resupply device 30) may be coupled to another portion of system 10 or to an external device (e.g., pod 102, spacecraft service device 100, and / or spacecraft 20) to supply (e.g., refill, replenish, supplement, etc.) the device with one or more consumables (e.g., fuel, gas, parts, etc.). In some embodiments, such supplies may be supplied in additional external tanks attached to the device and / or may be supplied by replacement (e.g., refueling) using existing parts.

[0048] A spacecraft will typically use propellants (e.g., xenon, hydrazine) to maintain positioning and pointing over the life of the mission. Exhaustion of such propellants typically results in the termination of the mission life. In some embodiments, the spacecraft service device 100, the pod 102, and / or the resupply device 30 ("fuel supply device") can provide additional propellant to another part of the system 10 or to an external device (e.g., the pod 102, the spacecraft service device 100, and / or the spacecraft 20 ("target device")). In other embodiments, the fuel supply device can serve to supply other fuels or fluids, such as tanks of high-pressure xenon, hydrazine, helium, nitrogen tetroxide (NTO), green propellant, combinations thereof, or any other suitable fuel. In some embodiments, the selection of propellant or fuel can be based on the application of the pod 102 (e.g., based on the configuration of the spacecraft 20).

[0049] FIG. 1B shows an embodiment of such a fuel tank supply device 140 of a fuel supply device that can be implemented on one or more devices of the system 10 ( FIG. 1A ). As shown in FIG. 1B , in some embodiments, a pipeline 142 on the fuel tank supply device 140 can supply the fuel (e.g., high pressure xenon) in the tank 141 to a regulator 143 (e.g., a mechanical and / or electrical regulator). The regulator 143 can control (e.g., reduce) the pressure to a level that can be used by the system of the target device. An additional pipeline 144 can be positioned downstream of the regulator 143 and can be connected to a matching adapter 145. The matching adapter 145 can be connected to a connector (e.g., a service port valve) of the target device that is in communication with the fuel of the target device. In some embodiments, such a matching adapter 145 of the fuel supply device may include a connection fitting (e.g., a quick disconnect fitting, a cooperative service valve, and / or a simple mechanical service valve) for coupling with the tank of the target device. For example, such a matching adapter 145 may include a valve (e.g., a rotary valve or a nut) that opens and closes the flow path. The mating adapter 145 may include a coupling member (eg, a female coupling member) that may be attached to a coupler (eg, a valve port) of a target device (eg, a complementary male coupling member).

[0050] In some embodiments, the mating adapter 145 can be prepared by removing a cap or plug, and the target device can be prepared by removing any structure (e.g., blanket and / or cap or plug) on ​​the connection of the target device. Once prepared, the mating adapter 145 is mechanically attached to the service valve of the target device, and one or more valves (e.g., on the target device and the fuel tank supply 140) can be opened and the pressure is monitored (e.g., pressure detection in the system of the target device). A decrease in this pressure can indicate that there is an incorrect pairing between the adapter of the fuel tank supply 140 and the mating adapter 145 of the fuel tank supply 140. Once the connection has been verified, the valve upstream of the mating adapter 145 can be moved to the open position, and the fuel tank 141 will supply fuel to the fuel tank of the target device. In embodiments where the tank 141 of the fuel tank supply 140 does not have pressure telemetry, the system of the target device can be used to monitor fuel usage to determine whether the tank 141 of the fuel tank supply 140 has reached depletion. As the tank 141 of the fuel tank feed 140 approaches depletion, the tank 141 of the fuel tank feed 140 can be removed from the connection by closing the valve upstream of the mating adapter 145, and the target device and a new tank can be connected to the target device (e.g., on the same fuel tank feed 140 by replacing the previous tank or on a different fuel tank feed that can enable the previous tank to remain connected). Such a fuel tank feed 140 may include a service valve 146 for initially pressurizing the system, mechanical supports for arming and attaching to the target device, grab accessories, and / or passive thermal controls.

[0051] Figure 2A A simplified schematic diagram of an embodiment of a spacecraft servicing apparatus 100 (e.g., the spacecraft servicing apparatus 100 of FIG. 1A ) is shown. Figure 2A As shown, the spacecraft servicing assembly 100 includes one or more deployable pods or modules 102 that are initially attached to the spacecraft servicing assembly 100. The spacecraft servicing assembly 100 may be a satellite or other spacecraft positioned in orbit about an object.

[0052] To capture, deliver, attach, and / or retrieve the pod 102 to another spacecraft, the spacecraft servicing device 100 may include a chemical or another type of reactive engine and / or may include an electric propulsion system. For example, the spacecraft servicing device 100 may include one or more thrusters 104, a power system including a chemical and / or electric propulsion source (e.g., a fuel tank 106 containing xenon propellant and / or hydrazine propellant for ion thrusters), and a power processing unit 108. The propulsion system of the spacecraft servicing device 100 (e.g., including the thrusters 104) may enable the spacecraft servicing device 100 to move along one or more axes of motion (e.g., three translational axes and three rotational axes for a total of six axes of motion). The spacecraft servicing assembly 100 may include a solar array 110 (e.g., an orientable solar array), a battery 112, power conditioning electronics (e.g., a power distribution assembly 114), a control subsystem 116 (e.g., command and data processing, thermal control, guidance, navigation, and control), a communication subsystem 118 (e.g., radio frequency (RF) for communication with an associated antenna 120), and accessory tools 121 (e.g., service parts and / or end effectors for one or more robotic arms discussed below). Such components may enable the spacecraft servicing assembly 100 to be maneuvered into position close to another spacecraft to be serviced.

[0053] To capture, deploy, attach, and / or retrieve the pod 102 to another spacecraft, the spacecraft servicing apparatus 100 may include a deployment and / or removal apparatus (e.g., one or more movable arms, such as a robotic arm 122 having one, two, three, four, five, or six degrees of freedom), a long pole, and / or an extendable deployment apparatus, as discussed below, which may be coupled to a portion of the pod 102 (e.g., an internal portion of an engine) with associated imaging systems (e.g., a camera 124) and control and power systems (e.g., robotic avionics 126 and power supply 128). Such apparatus and components may be used to engage with (e.g., such apparatus and components may be used to attach to) the pod 102 on the spacecraft servicing apparatus 100. For example, one or more of the robotic arms 122 may be used to couple to a pod 102 (eg, via an end effector) and move the pod 102 into proximity with a target spacecraft to connect the pod 102 to the spacecraft and release the pod 102 after attachment.

[0054] In some embodiments, other devices and methods may be utilized to deliver and / or attach the pod 102 to the spacecraft. For example, the spacecraft servicing device 100 itself may be oriented relative to the spacecraft to place the selected pod 102 in contact with the spacecraft, the spacecraft servicing device 100 itself may capture or otherwise hold the spacecraft while applying the pod 102, the pod 102 may include one or more onboard systems for controlling and attaching the pod 102, the spacecraft servicing device 100 may include a reusable and individually controllable unit having a propulsion unit controller configured to deliver the pod 102, or a combination thereof.

[0055] In some embodiments, the spacecraft servicing device 100 can deliver, attach, and / or retrieve the pods 102 without the use of a robotic arm. For example, with one or more pods 102 attached, the spacecraft servicing device 100 can rendezvous with a target spacecraft (e.g., using sensors to detect the position and / or orientation of the target spacecraft, such as those discussed below). While the pods 102 are attached to the spacecraft servicing device 100, the coupling mechanisms of the pods 102 (also discussed below) can be deployed and engaged with the target spacecraft. The pods 102 can be released from the spacecraft servicing device 100, and any remaining docking procedures can be completed before, during, and / or after release in order to secure the pods 102 to the target spacecraft.

[0056] Regardless of the specific mechanisms or features used to capture, deploy, attach, and / or retrieve the pod 102, the spacecraft servicing apparatus 100 may be configured to deliver the pod 102 directly (e.g., via mechanisms and / or features) to a location at a target spacecraft using one or more portions of the spacecraft servicing apparatus 100. For example, the spacecraft servicing apparatus 100 may capture, deploy, attach, and / or retrieve the pod 102 using only deployment mechanisms and / or features (e.g., one or more robotic arms 122, extendable and / or expandable docking mechanisms, etc.) that reside on (e.g., a portion of) the spacecraft servicing apparatus 100. In some embodiments, deployment mechanisms and / or features that reside only on the spacecraft servicing apparatus 100 are used without utilizing any maneuvering (e.g., propulsion) devices on the pod 102. For example, rather than independently maneuvering and / or steering the pod 102 to a position proximate to a target spacecraft under its own power or propulsion, the pod 102 may be maneuvered directly by the spacecraft servicing apparatus 100. After being moved into position, mechanisms and / or features of the spacecraft servicing apparatus 100 (e.g., one or more robotic arms 122, extendable and / or expandable docking mechanisms) and / or features of the pod 102 (e.g., coupling mechanisms such as the deployment apparatus 160) may be used to secure the pod 102 to the target spacecraft. In some embodiments, the pod 102 may be secured to the target spacecraft while the pod 102 remains in at least partial contact with the spacecraft servicing apparatus 100. For example, once the pod 102 is in at least partial contact with (e.g., secured to) the target spacecraft, the pod 102 may be released from the spacecraft servicing apparatus 100.

[0057] In some embodiments, the spacecraft servicing assembly 100 includes sensor components, such as rendezvous and approach operations 130 (e.g., light detection and ranging 132, infrared sensor 134, and / or visible light sensor 136). Such components may enable the spacecraft servicing assembly 100 to monitor and / or detect other objects (e.g., pod 102, other spacecraft when performing servicing-related functions). For example, one or more of the sensors (e.g., light detection and ranging 132, infrared sensor 134, and / or visible light sensor 136) may enable the spacecraft servicing assembly 100 to facilitate rendezvous and approach operations (FIG. 1A) relative to the target spacecraft 20 in order to deploy, install, and / or remove the pod 102 (FIG. 1A).

[0058] In some embodiments, one or more of the sensors (e.g., light detection and ranging 132, infrared sensor 134, and / or visible light sensor 136) may enable the spacecraft servicing apparatus 100 to detect one or more features of the target spacecraft 20 ( FIG. 1A ). For example, one or more of the sensors of the spacecraft servicing apparatus 100 may detect docking features (e.g., docking, berthing, or coupling mechanisms) of the target spacecraft 20 or other features (e.g., structural features) of the target spacecraft 20 in order to determine how the pod 102 should be attached to the target spacecraft 20.

[0059] In some embodiments, the spacecraft service device 100 may be at least partially reconfigurable to facilitate operations performed by the spacecraft service device 100. For example, during connection (e.g., docking) with the spacecraft 20 ( FIG. 1A ), the device 100 may reposition (e.g., load, unload) various structures and / or components (e.g., struts for docking with the spacecraft 20). Such structures and / or components may be removed by one or more tools (e.g., robotic arms 122) and placed in a temporary storage location. These structures and / or components may be attached when the spacecraft service device 100 docks (e.g., and services) the target spacecraft 20.

[0060] In some embodiments, features on the spacecraft servicing device 100 can be used to reconfigure other devices (e.g., a spacecraft). For example, one or more tools of the spacecraft servicing device 100 (e.g., robotic arm 122) can be used to remove structures that facilitate stacking of secondary payloads above the spacecraft servicing device 100 after launch. In some embodiments, the spacecraft servicing device 100 (e.g., and the attached pod 102 ( FIG. 1A )) can be attached to an ESPA ring or some other suitable structure. After launch (e.g., in orbit), the robotic arm 122 can disassemble the pod 102 and reposition it to a storage location, and then disassemble accessory structures used during launch handling or temporary storage.

[0061] Figure 2B A simplified schematic diagram illustrating an embodiment of a spacecraft servicing device 150 that can be used with a spacecraft Figure 2A The spacecraft service device 100 is substantially similar to the spacecraft service device 100, and the spacecraft service device 150 may include some, most, or all of the components of the spacecraft service device 100 as shown. Figure 2B As shown, spacecraft servicing device 150 includes a coupling mechanism 152 (e.g., a docking, berthing, holding or otherwise attaching mechanism) for coupling to other devices (e.g., other spacecraft, such as spacecraft 20, pod 102, resupply device 30, etc.).

[0062] As described above, once the spacecraft servicing assembly 100 is in orbit with the initial supply of pod 102, the spacecraft servicing assembly 100 travels from the target spacecraft 20 (FIG. 1A) to the target spacecraft 20 to install the pod 102. In some embodiments, the spacecraft servicing assembly 100 may employ additional control techniques to maintain an optimal position relative to the spacecraft 20 to allow installation (e.g., robotic installation) of the pod 102. The optimal position may or may not be centered on the spacecraft 20 and may be set back a selected distance from the spacecraft 20 so that the pod 102 and robotic arm 122 have room to move onto the spacecraft. Data from the rendezvous sensors may be sent to a robotic control computer on the spacecraft servicing assembly 100 so that the machine vision and robotic motion control algorithms may have prior knowledge of the relative positions and motions of the two spacecraft.

[0063] Figure 2C to Figure 2K Various embodiments of the coupling mechanism according to one or more embodiments of the present disclosure are shown. Figure 2C and Figure 2D As shown, the coupling mechanism 152 may include an expandable docking mechanism 160 (e.g., having a spear shape) configured to be received in a receiving portion (e.g., engine 156) of at least one of the spacecraft 20 (e.g., a portion of an engine or any other portion that can form a mechanical connection). When the spacecraft service device 100 maintains this position relative to the spacecraft 20, the expandable docking mechanism 160 is extended by the spacecraft service device 100 ( Figure 2A ) or by having the robotic arm guide the final docking to be fully guided into the appropriate position. Once in the appropriate position, one or more expandable portions can be deployed and contact the receiving portion 156 to secure the expandable docking mechanism 160 to the spacecraft 20.

[0064] Such an expandable docking mechanism 160 is disclosed, for example, in U.S. Patent Application Serial No. 15,829,807, filed on December 1, 2017, entitled “SYSTEMS FOR CAPTURING A CLIENT VEHICLE,” the entire disclosure of which is hereby incorporated herein by reference. For example, the expandable docking mechanism 160 may be inserted into the engine 156 of the spacecraft 20, such as Figure 2COnce inserted into the engine 156, one or more portions of the expandable docking mechanism 160 may be moved (e.g., expanded, extended) to contact the engine 156 and secure the expandable docking mechanism 160 to the engine 156, thereby securing the pod 102 (FIG. 1A) to the spacecraft 20. Before, after, and / or during the securement, the expandable docking mechanism 160 may include an extension arm that is retracted to place the pod 102 (FIG. 1A) closer to the spacecraft 20.

[0065] like Figure 2E and Figure 2F As shown, the coupling mechanism 152 may include an expandable and / or retractable docking mechanism 162 (e.g., in the shape of a chuck) configured to engage with the receiving portion 156 of the spacecraft 20. The docking mechanism 162 may be guided into position in a manner similar to that described above. Once in position, the docking mechanism 162 may be retracted or expanded to secure the expandable docking mechanism 162 to the spacecraft 20.

[0066] like Figure 2G and Figure 2H As shown, the coupling mechanism 152 can include a snare docking mechanism 164 (e.g., including a plurality of wires, such as braided wires, positioned at the opening of the cavity). The snare docking mechanism 164 can be guided into position in a manner similar to that described above. The snare docking mechanism 164 is configured to engage with the receiving portion 156 of the spacecraft 20 by enabling the receiving portion 156 to enter through the opening in the wire. Once in position, the snare docking mechanism 164 can be moved (e.g., rotated) so that the wire at least partially restricts the opening defined by the wire to secure the snare docking mechanism 164 to the spacecraft 20.

[0067] like Fig.2I and Figure 2J As shown, the coupling mechanism 152 may include a clamping docking mechanism 166 (e.g., a three-point clamping mechanism including a movable member and two fixed members) configured to engage with the receiving portion 156 of the spacecraft 20. The docking mechanism 166 may be guided into position in a manner similar to that described above. Once in position, one or more movable members of the docking mechanism 166 may be moved toward one or more fixed members to secure the expandable docking mechanism 166 to the spacecraft 20.

[0068] like Figure 2KAs shown, the coupling mechanism 152 may include an expandable clamping docking mechanism 168 (e.g., one or more expandable bags configured to be received on an outer portion and / or an inner portion of the receiving portion 156) that is configured to engage with the receiving portion 156 of the spacecraft 20. The docking mechanism 166 may be guided into position in a manner similar to that described above. Once in position, an expandable bag (e.g., an annular bag) or multiple expandable bags (e.g., two opposing bags) may be inflated to secure the expandable docking mechanism 168 to the spacecraft 20. In some embodiments, the bag may be filled with a fluid (e.g., a liquid) that will at least partially solidify to form an at least partially rigid connection between the structures.

[0069] Figure 2L 1 is a perspective view of a spacecraft service device 180, which may be similar to those discussed above. As shown, the spacecraft service device 180 may include a body 182 including an ESPA ring having pods 102 coupled around the body 182. Each pod 102 may include a coupling mechanism 184 for coupling with a target spacecraft 20 (FIG. 1A) and an optional solar array 186. As described above, the coupling mechanism 184 may include a lance-shaped expandable device configured to engage an engine of the target spacecraft 20.

[0070] 1A , in yet some additional embodiments, a structural portion of the pod 102 (e.g., a strut or other frame member) can be used to dock with the spacecraft 20. For example, a robotic arm or other feature (e.g., a non-robotic method) will first position the pod 102 at a predetermined location based on the geometry and features of the spacecraft 20 and a component of the spacecraft 20 (e.g., a separation ring). The spacecraft service device 100 can then dock to the spacecraft 20 using the structural portion of the pod 102. Once docking is complete, the structural portion of the pod 102 can be secured to the spacecraft 20 (e.g., by actuating a clamp or otherwise securing the connection via an electronic command through a robotic interface or via electromechanical drive power from the robotic interface). Then, a portion of the spacecraft service device 100 (e.g., a robotic arm) can release the pod 102, and the spacecraft service device 100 can undock from the spacecraft 20 and remain behind the pod 102 mounted on the spacecraft 20 (e.g., mounted on the separation ring).

[0071] In still other additional embodiments, a portion of the spacecraft servicing device 100 (e.g., a robotic arm) may extend and place the pod 102 on a portion of the spacecraft (e.g., a release ring or other compatible mechanical feature of the spacecraft 20). Electronic commands to either the pod 102 or the spacecraft 20 may then be used to actuate a coupling mechanism or electromechanical actuator on either device to secure the pod 102 in place on the spacecraft 20.

[0072] Reference Figure 2A In the case where a robotic arm is used to place the pod 102, the robotic arm 122, end effector and / or other tooling may employ techniques associated with the docking mechanism 166 that minimize zero-g contact dynamics between the two vehicles. Such techniques include, but are not limited to, minimizing friction at the contact interface, minimizing the time between first contact and rigidification (e.g., completing docking or other coupling), and providing compliance in the path. In some embodiments, passive and active first contact electrostatic discharge (ESD) mitigation techniques may be employed in the design of the pod 102, robotic arm 122, spacecraft service unit 100, and resupply unit 30 to ensure that first contact ESD is minimized or eliminated. For example, such ESD mitigation techniques are disclosed in U.S. patent application Ser. No. 15 / 829,758, filed on Dec. 1, 2017, and entitled “ELECTROSTATIC DISCHARGE MITIGATION FOR A FIRST SPACECRAFT OPERATING IN PROXIMITY TO A SECOND SPACECRAFT,” the entire disclosure of which is hereby incorporated herein by this reference.

[0073] 1A , it may be desirable to have as brief a connection between the spacecraft servicing device 100 and the spacecraft 20 as possible when installing the pod 102 on the spacecraft 20. In some embodiments, during installation of the pod 102, both the spacecraft 20 and the spacecraft servicing device 100 may drift freely together for only a short period of time (e.g., a few seconds to a few minutes) during which installation of the pod 102 is established and the spacecraft servicing device 100 releases the pod 102 to disconnect the mechanical connection between the two vehicles. The propulsion system of the spacecraft servicing device 100 may then be reactivated, and the spacecraft servicing device 100 may back off to a safe position. Shortly thereafter, the attitude control system of the spacecraft 20 may be reactivated so that the target spacecraft 20 may regain its position.

[0074] 1A and Figure 2ABoth, in some embodiments, after installation, the pod 102 can be activated, for example, by a timer, a sensor (e.g., a disconnection timer or the like) via, for example, a ground command to a transceiver in the pod 102, an electrical command from the robotic arm 122, which enables the pod 102 to sense that it is no longer connected to any of the spacecraft service unit 100, the resupply unit 30, or the robotic arm 122. In some embodiments, such sensors may include one or more mechanical limit switches that are activated by the completion of the docking or installation mechanical activity.

[0075] In yet additional embodiments, the pod 102 may be activated via features incorporated into the interface between the spacecraft servicing device 100 and the pod 102. For example, a portion of the deployment device of the spacecraft servicing device 100 (e.g., a tool drive mechanism or end effector on the robotic arm 122) may assist in activating and / or initially deploying accessories on the pod 102. Such a technique would potentially simplify the mechanics of the pod 102 by leveraging the functionality of the robotic arm 122 (e.g., an end effector of the arm 122) of the spacecraft servicing device 100 to perform deployment and activation of the pod 102 (e.g., one actuation on the pod 102). The robotic arm 122 and / or its components and tools may perform at least a portion of the on-orbit assembly of the pod 102. For example, final assembly of accessories onto the pod 102 using the robotic arm 122 may allow for simplified, lighter, and / or lower cost packaging of the pod 102 components for launch.

[0076] Figure 3 A simplified schematic diagram of an embodiment of a pod (e.g., mission extension pod 102 of FIG. 1A ) of a spacecraft servicing assembly 100 is shown. Figure 3As shown, the mission extension pod 102 includes one or more devices for controlling the pod 102 and any other structures attached to the body 201 of the pod 102 (e.g., orienting and moving the pod 102 and any other structures attached to the body 201 of the pod 102). For example, the pod 102 may include a chemical or another type of reactive engine and / or may include an electric propulsion system. Additionally, the pod 102 may include a hybrid propulsion system (e.g., a combination of chemical, electrical, or cryogenic gas thrusters). As shown, one or more thruster assemblies 200 may include one or more thrusters 202 (e.g., electric propulsion (EP) thrusters) attached to (e.g., movably attached to) the pod 102 by means of a movable (e.g., rotatable) coupling (e.g., a universal joint 204 and a boom 206). In some embodiments, the positioning of the thrusters 202 relative to the body 201 may be selected based on one or more features of the spacecraft to which the pod is to be attached (e.g., size, specifications, mass, center of mass, combinations thereof, etc.). In some embodiments, thrusters 202 may provide relatively low accelerations to minimize or avoid disturbances caused by the movement of propellant around in the propellant tank.

[0077] Although Figure 3 The embodiment of the embodiment shows one thruster assembly 200 on a single boom 206, but in other embodiments the pod 102 may include multiple thruster assemblies on multiple booms (e.g., two, three, or more thruster assemblies and accompanying booms). For example, two thruster assemblies may be provided on two booms, wherein one thruster assembly is substantially a mirror image of the other thruster assembly. Furthermore, in some embodiments, multiple thruster assemblies may be provided on a single boom. In such embodiments, multiple thrusters may be implemented to ensure that the lifetime throughput capability of the system is fully achieved or the desired thrust level is achieved. For example, in embodiments where the pod 102 is configured to drive itself to a particular orbit, thrusters may be selected to provide orbit raising operations and subsequent maintenance procedures performed by the pod 102 after coupling to the target spacecraft 20. In some embodiments, one or more thruster assemblies 200 may not be provided on a boom, but may be mounted directly on the pod 102. In some embodiments, one thruster assembly 200 may be used for life extension services, including spacecraft repositioning, station keeping, tilt pull-down, momentum adjustment, and / or end-of-life (EOL) disposal. In some embodiments, multiple thruster assemblies 200 may each be used for all life extension services, or may be divided for different life extension services. For example, one or more thruster assemblies 200 may be set on one or more booms for station keeping services, while one or more thruster assemblies 200 may be installed on a pod for orbit repositioning, tilt pulldown, and EOL disposal.

[0078] In some embodiments, antenna 208 may be positioned on thruster assembly 200. In some embodiments, antenna 208 may be positioned on a separate deployable boom. In some embodiments, additional solar cells for power generation may be placed on thruster boom assembly 200.

[0079] The pod 102 may include a power and propulsion system 210 including one or more power sources and associated parts (e.g., where at least a portion of the power system may be an electric propulsion power system). For example, the power and propulsion system 210 may include one or more propellant tanks (e.g., containing xenon propellant or any other suitable propellant for an electric or chemical propulsion system), thrusters (e.g., electric thrusters), and associated power processing units. The pod 102 may include a solar cell array 212 and one or more batteries 214. In some embodiments, the solar cell array 212 may be rigidly coupled to the body 201 or to a movable (e.g., rotatable) coupling having one or more axes of motion (e.g., one or more universal joints 216 or other movable joints and a boom 218 providing motion about one, two, or more axes) to direct the solar cell array 212 toward the sun.

[0080] In some embodiments, the gimbaled solar array 212 can provide many advantages over similar rigid arrays. For example, the gimbaled solar array 212 enables the solar array 212 to be removed / spaced from the thrusters of the target spacecraft 20, so that the target spacecraft 20 can perform orbital maintenance while minimizing the concern that the thrusters of the target spacecraft 20 will drift onto the solar arrays of the pod 102. The gimbaled solar array 212 can also thermally decouple the pod 102 from the target spacecraft 20 and increase the effectiveness of the solar array 212 by enabling it to track the sun. The increase in the effectiveness of the gimbaled solar array 212 enables the thrusters of the pod 102 to fire longer and also enables the use of smaller, lighter and cheaper batteries. A propulsion system with a longer firing time can facilitate the service of heavier target spacecraft 20. In some embodiments, the gimbaled solar array 212 can be articulated in a momentum-maintaining manner (e.g., without imparting net momentum) as the target spacecraft 20 flies through orbit.

[0081] In some embodiments, the solar array 212 may track the sun using logic stored on the pod 102 during the sunlit portion of service of the satellite to maximize the power generation of the solar array 212, thereby minimizing the size of the solar array 212 and the battery. In some embodiments, the motion of the solar array 212 may be limited, for example, to simplify the mechanical design and eliminate or minimize shadowing of the spacecraft array, impacts from thruster plumes on the pod 102 and / or spacecraft 20, interference with sensors or antennas on the pod 102 and / or spacecraft 20, or other system constraints. In some embodiments, the solar array 212 may include two separate wings with one or two axes of motion. In some embodiments, the gimbaled solar array 212 may include one axis of motion configured to counteract the rotation of the pod 102.

[0082] In some embodiments, the solar array 212 is oriented to track the sun to provide sufficient power to the propulsion system so that continuous electric propulsion enables the pod 102 to modify orbit without being attached to the host spacecraft 20 or the service spacecraft 100.

[0083] Embodiments of the pod 102 can provide spacecraft services in a physically relatively small package and light footprint on a spacecraft vehicle 20 (FIG. 1A) by using low power (e.g., electric) propulsion systems such as grid ion thrusters, Hall effect thrusters, colloidal / field effect thrusters, arc jets, and resistive jets. Such an electric propulsion system can produce a desired amount of thrust to adjust the positioning of the spacecraft 20 over a selected period of time for one or more burns (e.g., two burns within a twenty-four hour period), with each thrust lasting for a selected period of time. In some embodiments, the pod 102 can be positioned on the zenith (e.g., counter-Earth) facing side of the spacecraft and the solar array 212 of the pod 102 so as to be exposed to unobstructed sunlight for at least up to twelve hours per day. In some embodiments, one thruster burn can occur while the solar array 212 of the pod 102 is fully illuminated, and a second thruster burn can occur while the solar array 212 of the pod 102 is fully obscured by the body of the spacecraft.

[0084] In some embodiments, each thruster burn may occur within a twenty-four hour period while the solar array 212 of the pod 102 is shielded by the body of the spacecraft 20. In some embodiments, each thruster burn may occur within a twenty-four hour period while the solar array 212 of the pod 102 is fully illuminated. Batteries (e.g., batteries 214 such as lithium-ion batteries) may be used to store energy during periods when the pod 102 is illuminated by sunlight, and the batteries 214 may be sized to support the bus power loss of the pod 102 as well as the thruster burn power during periods without sunlight. In some embodiments, the thruster burns are performed with chemical thrusters.

[0085] In some embodiments, the propellant of the power and propulsion system 210 of the pod 102 may include a certain amount of propellant (e.g., approximately 25 kg, 50 kg, 100 kg, 150 kg or more) to support the station keeping (e.g., maneuvering and momentum adjustment requirements) of the spacecraft 20 ( FIG. 1A ) for a selected period of time (e.g., at least several years). In some embodiments, the propellant may include an additional amount of propellant to facilitate the delivery of the pod 102 from the initial launch insertion orbit to its intended orbit using the power and / or propulsion system of the pod 102. The pod 102 may be loaded with propellant prior to launch so that no propellant transfer is required once the pod 102 enters orbit. As the spacecraft 20 needs to be repositioned to a different orbital position for the continuation of its operational life or to reach the end of its operational life, the propulsion schedule and position of the pod 102 may be adjusted to deliver velocity changes in the direction of the orbital velocity of the spacecraft 20 to move the spacecraft 20 to a different orbit, orbital position, or a combination thereof for the purpose of operational life extension or end-of-life disposal.

[0086] In some embodiments, the fuel or propellant of pod 102 may be used to service spacecraft 20 without relying on one or more systems of spacecraft 20. For example, only the propellant of pod 102 may be used to service spacecraft 20 (e.g., to manipulate and / or adjust at least one momentum of spacecraft 20, including attitude).

[0087] 1A and Figure 3In some embodiments, the fuel tank 24 of the spacecraft 20 may be bypassed (e.g., not utilized) to service the spacecraft 20. For example, the propellant of the pod 102 (e.g., the propellant of the pod 102 supplied from the fuel tank 141 in a configuration similar to that shown in FIG. 1B , the propellant of the pod 102 supplied from the tank of the propulsion system 210 of the pod 102) may be supplied (e.g., directly supplied) to a portion of the propellant system 22 of the target spacecraft 20 (e.g., while bypassing the fuel tank 24 of the spacecraft 20). In such embodiments, the propellant of the pod 102 may be used to service the spacecraft 20 without transferring (e.g., replenishing) the propellant to the tank 24 of the spacecraft 20 (e.g., through a refueling procedure). For example, the propellant of the pod 102 may be coupled (e.g., fluidly coupled via coupling mechanism 152, mating adapter 145 ( FIG. 1B ), etc.) to a portion of the fuel system of the spacecraft 20. In some embodiments, such an existing connection may exist on the spacecraft 20. In some embodiments, one or more of the spacecraft servicing device 100 and the pod 102 may mount at least a portion of the connection on the spacecraft 20 .

[0088] Propellant from pod 102 may be transferred to propellant system 22 of target spacecraft 20 and used to service spacecraft 20 (e.g., to manipulate and / or adjust at least one of the orbit, velocity, or momentum of spacecraft 20), for example using one or more thrusters of propellant system 22.

[0089] In some embodiments, the pod 102 may not have a propulsion device for independently moving the pod 102 .

[0090] In some embodiments, the pod 102 can have a relatively low overall mass, for example, less than 700 kilograms (kg) (e.g., less than 600 kg, 500 kg, 400 kg, 350 kg, 300 kg, 200 kg, 100 kg, or less).

[0091] In some embodiments, pod 102 is configured to remain permanently on spacecraft 20 without being recovered or replaced. In some embodiments, pod 102 may be detached from spacecraft 20 and used on a different client spacecraft. In some embodiments, pod 102 may be detached from spacecraft 20, refueled by spacecraft service device 100 or resupply device 30, and reattached to spacecraft 20. In some embodiments, pod 102 may be detached from client spacecraft 20, and the pod trajectory may be modified using the propulsion system of pod 102 for subsequent rendezvous and capture by spacecraft service device 100.

[0092] The pod 102 may include a power controller (e.g., a single circuit board of the power controller 220) and a flight controller (e.g., a single circuit board of the avionics controller 222) disposed on any suitable type and number of electronic devices. In some embodiments, redundant devices (e.g., circuit cards, avionics, thrusters, sensors, actuators, or other components) may be included in the pod 102 to enhance the reliability, lifespan, and / or throughput of the pod 102.

[0093] The pod 102 may include a communication subsystem 224 (e.g., radio frequency (RF) communication in communication with the antenna 208 and a transceiver (XCVR)). The communication subsystem 224 of the pod 102 may be designed to operate with commercially available communication services with the requirement of periodic contact rather than continuous contact. In some embodiments, for the purpose of establishing omnidirectional communication coverage with the pod 102, Figure 3 102 includes one or more additional antennas at one or more suitable locations on the pod 102 shown in FIG. 10A . In this context, communication coverage can be established when the boom is oriented for propulsion in a direction that the boom antenna is not pointing toward the Earth. In some embodiments, the one or more additional antennas provide a communication link to the pod 102 when the pod 102 is not connected to the resupply device 30, the host spacecraft 20, or the satellite servicing device 100, for example, when the pod 102 is free flying and the thrusters 202 on the boom are used to modify the trajectory of the pod 102.

[0094] In some embodiments, a communication device (e.g., communication subsystem 224) of pod 102 may receive data related to at least one of the orbit or velocity of target spacecraft 20 ( FIG. 1A ) (e.g., related to the momentum of spacecraft 20). Such data may be transmitted or otherwise transferred to pod 102 from a location remote from pod 102 via one or more communication channels (e.g., directly or indirectly via a ground station, satellite relay, direct transmission, and / or electrical connection (e.g., directly from target spacecraft 20)). Such data may include calculations for the associated combustion, and / or systems of pod 102 may perform calculations for the combustion based on the data. In some embodiments, telemetry data may be provided to pod 102 from target spacecraft 20 directly or indirectly via a ground station (e.g., via a radio frequency link). In some embodiments, telemetry data may be provided to pod 102 directly or indirectly from one or more of target spacecraft 20, spacecraft servicing device 100, or from a ground station.

[0095] In some embodiments, telemetry data may be updated at selected time intervals in a closed loop system, and subsequent combustion may be calculated based on the updated data.

[0096] In some embodiments, a predetermined combustion schedule may be provided to the pod 102 or another portion of the system 10 .

[0097] In some embodiments, the pod 102 includes onboard functionality that includes any suitable technology for determining the range, position, and / or velocity of the pod 102 while in orbit. In some embodiments, the communication subsystem 224 of the pod 102 may provide ranging functionality so that the orbital position of the pod 102 may be accurately determined using standard ranging techniques with the aid of ground systems. In some embodiments, the pod 102 may include an onboard GPS transponder that provides accurate orbital position and velocity of the pod 102, regardless of whether the pod 102 is free-flying, attached to a satellite service device 100, or a host spacecraft 20. In some embodiments, the pod 102 may use optical orbit determination (e.g., via a camera or other suitable device). In some embodiments, the orbital range, position, and / or velocity data is used on the ground by an operator (e.g., a person and / or a computer) to calculate a new thruster burn schedule, which is uploaded to the pod via the communication subsystem 224. In some embodiments, a computer onboard the pod 102 uses the orbital position and velocity data to calculate a new thruster burn schedule. In some embodiments, the thruster burn schedule calculated by the ground or the pod can be used to modify the pod's orbit when the pod is attached to the host spacecraft 20 for the purpose of life extension or orbit modification. In some embodiments, the thruster burn schedule calculated by the ground or the pod is used to modify the pod's orbit when the pod is not attached to the host spacecraft 20 or the satellite service device 100.

[0098] In some embodiments, the pod 102 may use its onboard generated orbital position and velocity data in conjunction with data uploaded from the ground or generated by sensors on the pod 102 to calculate a thruster burn schedule that is used to modify the pod's position and orientation relative to another celestial body in orbit. In various embodiments, the pod 102 may modify its position or orientation relative to another celestial body in orbit to rendezvous with a satellite servicing device 100; avoid collision with another celestial body in orbit; perform station-keeping orbit maintenance relative to another pod 102, a satellite servicing device 100, or another celestial body in orbit; and, when attached to a host spacecraft 20, perform station-keeping of the host spacecraft 20 relative to one or more other celestial bodies in space.

[0099] In some embodiments, the pod 102 will lack any independent systems for determining telemetry data (e.g., velocity, attitude, momentum, position, trajectory, etc.) of the pod 102 and / or the target spacecraft 20, and will need to rely on external sources (e.g., the target spacecraft 20, a ground station, a service carrier assembly 100) for such information.

[0100] The pod 102 can store telemetry data for a period of time (e.g., an eight to twelve hour period) and return the data to the communication network when polled on a selected schedule (e.g., twice or three times a day). The total data set can be relatively small, resulting in a relatively short contact time, which provides a relatively low cost footprint for operating multiple pods 102 over a period of years. In some embodiments, the pod 102 can be positioned on the non-earth-facing side of the target spacecraft 20 (Figure 1A). In order to provide a line of sight to the ground station antenna and / or the circumnavigating communication service, the transceiver antenna 208 can be positioned on the same boom of the launch propulsion assembly 200 to provide a clear line of sight. Considering the geosynchronous orbit range and low power nature of the components of the pod 102, together with the relatively moderate gain antenna 208, the pod 102 can transmit and return data at a relatively low data rate (e.g., less than 1 kb / s, less than a few kb / s). Thus, the pod 102 is able to receive a limited set of commands to adjust its thrust schedule and boom pointing according to adjustments specified from Earth by a spacecraft operator of the spacecraft 20 .

[0101] In some embodiments, one or more portions of the system 10 ( FIG. 1A ) (e.g., the pod 102 ) may utilize a flexible frequency transceiver that enables the pod 102 to communicate with a ground station associated with the spacecraft 20 . By utilizing the flexible frequency transceiver and by utilizing an existing ground system for the spacecraft 20 , the pod 102 may not require any additional regulatory approvals or third-party services to establish a command and telemetry connection between the pod 102 and a ground station for the spacecraft 20 . This may enable an operator of the spacecraft 20 to establish control (e.g., full control) of the pod 102 with relatively minimal additional investment with little or no necessary regulatory disclosure or approval. Given that the market base for the target spacecraft 20 includes a relatively large number of spacecraft 20 utilizing C-band and Ku-band RF frequencies for communications, the launched pod 102 may be configured with a C-band or Ku-band transceiver. Pre-launch coordination may establish a ratio of the pod 102 to the C-band or Ku-band based communication system that will be launched on an initial capability or in a resupply spacecraft. If the target spacecraft 20 does not utilize C-band or Ku-band communications, the pod 102 may be configured to implement a type of communication system that substantially matches the type of target spacecraft 20, or the C-band or Ku-band pod 102 may still be used with a target spacecraft 20 having a different type of communication system. In some embodiments, the pod 102 may store its telemetry data for a selected period of time (e.g., eight to twelve hours) and may return that data to the communication network when polled (e.g., two or three times per day).

[0102] In some embodiments, since the frequency of the flexible frequency transceiver can be modified based on the target spacecraft 20 on orbit (e.g., utilizing unused portions of one or more bands of frequencies utilized by the target spacecraft 20), the flexible frequency transceiver enables the pod 102 to pair with a variety of target spacecraft 20. In some embodiments, the flexible frequency transceiver included in the pod 102 enables frequency deconfliction between multiple nearby pods and / or between the pod 102 and other nearby spacecraft. This capability can enable the pod 102 to maintain efficient and conflict-free communications with the ground while none of the pods 102 are attached to the satellite servicing device 100, the resupply device 30, or the host spacecraft 20.

[0103] In some embodiments, the space-to-space command and telemetry link between the pod 102 and the spacecraft servicing assembly 100 may be implemented to take advantage of the relatively large gain and power of the spacecraft servicing assembly 100 to connect the pod 102 to the ground systems of the spacecraft 20. In some embodiments, this technique may be employed while the spacecraft servicing assembly 100 is in close proximity to the pod 102 and / or may be implanted for long-term operations where the pod 102 thruster burn schedule may require only occasional adjustments (e.g., performed at weekly, monthly, or longer intervals).

[0104] In some embodiments, the communication system of pod 102 may use a transceiver designed to take advantage of the close proximity of the antenna of pod 102 to the uplink antenna of spacecraft 20 to feed a spread spectrum telemetry signal from pod 102 into the uplink of spacecraft 20. This signal is then received by the communication system of spacecraft 20 with a high gain boost to send the telemetry from pod 102 to the ground.

[0105] The various communication systems in the pod 102 disclosed herein may enable monitoring of the functions of the pod 102 and the results obtained from the pod 102 in near real time, with only a time lag due to the speed of light from geosynchronous orbit to the ground. Such a configuration may enable the pod 102 to perform many functions (e.g., such as those described above), where those functions may return performance data to a ground station. Software in the ground station and in the target spacecraft 20 or pod 102 may also be used to "close the loop" at a speed of light lag, so that data from the pod 102 or target spacecraft 20 may be delivered to software associated with the target spacecraft 20 or pod 102 to control the target spacecraft 20. In some embodiments, the pod 102 may not need to communicate directly with the spacecraft 20 that hosts the pod 102, and may communicate with the spacecraft 20 via a speed of light round trip time lag through a ground station. In such an embodiment, it is possible to "close the loop" for complex functions that may be provided in the form of pod 102 spacecraft services. For example, this complex functionality may include the ability to manage the three momentum axes of the spacecraft 20 with the thruster assembly 200 of the pod 102 using telemetry data from the spacecraft 20 with the aid of gimbal control logic resident in ground software or pod software.

[0106] To deploy and attach the pod 102 to another spacecraft 20 ( FIG. 1A ), the pod 102 may include attachment features (e.g., coupling mechanisms 226 configured to dock, berth, attach, retain, or a combination thereof to the target spacecraft 20), the attachment features configured to attach to the spacecraft 20 and / or one or more components that may be attached by the spacecraft servicing device 100 ( Figure 2A ) is engaged with a feature (e.g., a robotic arm 122). The coupling mechanism 226 can be movably mounted to the body 201 (e.g., via a universal joint 230).

[0107] In some embodiments, the thruster assembly 200 of the pod 102 can be positioned on a multi-axis actuator system (e.g., defined by a plurality of gimbals and / or other translation or rotation devices). For example, the gimbal 204 can be configured to move the thruster assembly 200 along a first axis direction, and the gimbal 205 can be configured to move the thruster assembly 200 along a second axis direction transverse to the first axis direction. In some embodiments, the gimbals 204, 205 can be juxtaposed at the thruster assembly 200. In some embodiments, the gimbals 204, 205 can be separated by a boom. The pod 102 can include a third gimbal 230 (e.g., for rotating the body 201 relative to the spacecraft 20 (FIG. 1A)) for positioning the gimbals 204, 205 relative to the spacecraft body. In some embodiments, the pod 102 can include a third gimbal 230 proximate to the gimbal 204 (e.g., between the body 201 and the boom 206). Such a third gimbal 230 may function in cooperation with the gimbals 204 , 205 to create three degrees of freedom (eg, three rotational degrees of freedom).

[0108] In some embodiments, the gripping mechanism 228 may be spaced apart from the body 201 by one or more structures 232 to facilitate interfacing with the spacecraft servicing device 100 ( Figure 2A )'s robotic arm 122 is connected.

[0109] The pod 102 may include a device for securing the pod 102 to the spacecraft service device 100 ( Figure 2A ). For example, pod 102 can include a loading mechanism 234 coupled to a portion of spacecraft servicing apparatus 100 (e.g., which can be spaced apart from body 201 by structure 232). In other embodiments, one or more of the above-existing features (e.g., coupling mechanism 226 and / or gripping mechanism 228) or another feature can be used to secure pod 102 to spacecraft servicing apparatus 100.

[0110] As described above, pod 102 may be configured to deliver changes in orbital velocity (e.g., station keeping, repositioning, EOL handling) to spacecraft 20 ( FIG. 1A ), for example, while detached from (e.g., not communicating with) the control system of spacecraft 20. In other words, pod 102 alone may change the trajectory (e.g., orbit) of spacecraft 20 while attached to spacecraft 20 but not communicating with the control system of spacecraft 20. The changes in velocity may be provided from thrusters 202 (e.g., ion thrusters, Hall current thrusters, gridded ion thrusters, Hall effect thrusters, or any other suitable type of electric or chemical thrusters that produce any suitable level of thrust).

[0111] In some embodiments, as described above, the pod 102 may at least partially function as an auxiliary fuel tank (e.g., a tank of high pressure xenon, hydrazine, helium, nitrogen tetroxide (NTO), green propellant, combinations thereof, or any other suitable fuel) that is coupled to the spacecraft 20 (e.g., FIG. 1A ) (e.g., coupled to the exterior of the spacecraft 20). For example, the pod 102 may include one or more of such fuel tanks in the power and propulsion system 210. In other embodiments, as described below, the pod 102 may include only the fuel tank and associated parts that are configured to attach to the spacecraft 20 and place the fuel tank in fluid communication with the spacecraft 20.

[0112] In some embodiments, the pod 102 may essentially include only the auxiliary tank system and may not include most or any of the above-mentioned components. Such an auxiliary tank system pod 102 may include a service valve for initially pressurizing the system, a mechanical support for equipping and attaching to the spacecraft, grabbing accessories and / or passive thermal control. In some embodiments, a deployment device (e.g., a robotic arm) may be used to place the auxiliary tank system pod 102 at its destination, which may be collaboratively designed to accept or not accept the tank. The target spacecraft 20 for the transfer tank system pod 102 may have a collaboratively designed interface for gas and fluid transfer, or, when the spacecraft 20 does not have such an interface as described above, the auxiliary tank pod 102 may include an interface that is configured to accommodate various sizes and configurations of accessories on such a spacecraft 20.

[0113] Figure 4 is a simplified schematic diagram of the pod 102 attached to the spacecraft 20 in a first configuration 300 with a first thrust vector orientation 301 and in a second configuration 302 with a second thrust vector orientation 303. Figure 3 and Figure 4 , gimbals 204, 205, 230 may provide a selected number of degrees of freedom (e.g., two degrees of freedom, three degrees of freedom) for directing a thrust vector through the center of mass of spacecraft 20. Thrust may be generated based on an initial position of spacecraft 20 in orbit on command (e.g., from a remote ground station) and / or on a schedule (e.g., a predetermined schedule and / or a schedule proactively sent to pod 102), and may reduce or even remove the burden of station keeping and momentum unloading from the propulsion subsystem of spacecraft 20. In some embodiments, the amount of thrust and / or the thrust vector may be sent to pod 102 via a communication link to pod 102 according to any desired schedule.

[0114] As shown in a first configuration 300 (e.g., three rotational degrees of freedom) of the gimbals 204, 205, 230 providing a first thrust vector direction 301, thrust may be applied in a direction that is primarily south or in a direction anti-normal to the spacecraft orbital direction. Similarly, as shown in a second configuration 302 of the gimbals 204, 205, 230 providing a second thrust vector direction 303, thrust may be applied in a direction that is primarily north or in a direction perpendicular to the spacecraft orbital direction. Figure 4 As shown in , each configuration can include a component of the thrust vector in the positive or negative direction of the orbital velocity. Figure 5 As shown in FIG. 1 , the thrust vector in each configuration (e.g., south and north) also has a substantial component in the radial direction of the spacecraft's orbit. Slight changes in thrust vector and burn duration are used to perform station keeping and momentum adjustments of the spacecraft 20 on command (e.g., from a remote ground station) and / or on a schedule (e.g., a predetermined schedule and / or a schedule proactively sent to the pod 102), as discussed below. In some embodiments, thrust vectors may be applied at different locations around the spacecraft at different times in orbit to optimize control of spacecraft orbital elements and management of spacecraft momentum.

[0115] This additional thrust from the pod 102 may reduce the rate of propellant consumption from the spacecraft 20 by, for example, 90% or more, up to 100%, and thereby serve to extend the mission life of the spacecraft 20 .

[0116] Given that it is generally not possible to provide thrust to completely eliminate drift of the orbital elements of the spacecraft 20 during a single activation cycle (i.e., burn), the pod 102 can induce a small directional velocity in one or more orbital directions (e.g., orbital radial direction, vertical direction, anti-vertical direction, in-plane direction) on the spacecraft 20 during each thruster activation cycle, and achieve control of all orbital elements of the spacecraft 20 through a combination of multiple activation cycles. For example, a thrust schedule of the pod 102 can be planned for selected intervals within one orbital rotation (e.g., two twelve-hour periods in a day) and for different orbital rotations over a period of one week, two weeks, three weeks, one month, or longer. Such a schedule can provide pairs of thruster burns and associated gimbal angles that produce velocity changes that control some or all of the orbital elements and adjust spacecraft momentum simultaneously with or separately from the velocity changes.

[0117] Figure 5 Another simplified schematic diagram of the pod 102 is provided (e.g., from Figure 4), the pod 102 is attached to the spacecraft 20 in a first configuration 304 with a first thrust vector direction 305 and in a second configuration 306 with a second thrust vector direction 307. Figure 3 and Figure 5 , the gimbals 204, 205 can provide two degrees of freedom for directing thrust vectors 305, 307 through the center of mass 158 of the spacecraft 20. As shown, a propulsion schedule for the pod 102 can be planned for two time periods separated by twelve hours during the day (or any time interval that provides the desired results for the target spacecraft 20). Such a schedule can provide pairs of thruster burns 305, 307 that produce velocity changes that can cancel each other or be used to control the eccentricity of the spacecraft's orbit.

[0118] In some embodiments, propulsion commands and / or schedules may be developed and communicated to pod 102 to provide a desired orbit, position, and / or velocity for spacecraft 20 based at least in part on characteristics of spacecraft 20 .

[0119] In some embodiments, the coupling portion 310 of the pod 102 (e.g., including a docking mechanism, such as the expandable docking mechanism 160 described above) can include a movable (e.g., rotatable) joint. For example, the rotatable coupling portion 310 can secure the pod 102 to the target spacecraft 20 (e.g., by wedging against a portion of the target spacecraft's engine 314) while enabling the pod 102 to rotate relative to the target spacecraft 20. This configuration can allow the thruster boom arm 312 to have a certain degree of freedom (e.g., eliminating the need for a third gimbal 230 ( Figure 3 ) and eliminates the need for two or more thruster universal joint assemblies.

[0120] Figure 6 FIG. 1 is a simplified schematic diagram of a resupply device of a spacecraft servicing system, such as resupply device 30 of spacecraft servicing system 10 ( FIG. 1A ). Figure 6As shown in , the resupply apparatus 30 may include a plurality of pods 102 attached to and / or contained within a structure 400 (e.g., an ESPA ring). In some embodiments, each pod 102 may include a corresponding attachment mechanism 401 for coupling to the structure 400. The structure 400 may include a plurality of couplers. For example, a first coupler 402 and a second coupler 404 are used to connect to a payload of a launch vehicle and / or one of the launch vehicle itself. The structure 400 may include a bus 406 that includes one or more spacecraft systems for controlling, monitoring, powering, etc. the resupply apparatus 30. The structure 400 may include a grab feature 408 ( Figure 4 ), which is configured to be used with another part of the system 10 (1A) (e.g., the spacecraft service device 100 ( Figure 2A For example, the gripping feature 408 may include a structure that can be coupled to the robotic arm 122 of the spacecraft servicing device 100 (see Figure 2A In some embodiments, the structure of the resupply apparatus 30 may include a separation ring and / or simulated features of a spacecraft engine (e.g., a similarly shaped and / or configured structure) such that the spacecraft servicing apparatus 100 may dock with the structure of the resupply apparatus 30.

[0121] In some embodiments, the structure of the resupply assembly 30 may be completely passive (e.g., not including an active spacecraft bus system 406 or an ESPA ring of a probe feature 408). In such embodiments, the pod 102 may be released from the resupply assembly 30 on an orbit other than the orbit of the spacecraft servicing assembly 100. The pod 102 may not receive any power, heat, or data services from the resupply assembly 30. For example, the pod 102 may be powered prior to and during launch, or may be unpowered until released from the resupply assembly 30.

[0122] Figures 7 to 10 Various embodiments of a spacecraft service device according to one or more embodiments of the present disclosure are shown, the spacecraft service device including a plurality of pods coupled to the spacecraft service device. Figure 7 As shown, the spacecraft service device 500 can be defined by one or more annular structures 502 (e.g., two ESPA rings stacked axially on each other). The pods 102 can be coupled around the annular structures 502 (e.g., coupled around the annular structures 502 in a stack of at least two pods 102). For example, the pods 102 can be coupled to each port defined around the annular structures 502. A tool (e.g., a robotic arm 506) can be coupled to one of the annular structures 502 (e.g., a radially extending surface on one side of the annular structure 502).

[0123] like Figure 8 As shown, the spacecraft service device 500 can have different configurations of pods 102 coupled around the ring structure 502. For example, a pod 102 can be coupled to each port defined around the ring structure 502. A second row of pods 102 can be coupled to a corresponding pod 102, and the corresponding pod 102 is positioned close to (e.g., adjacent to and / or coupled to) the ring structure 502. Another group of pods 102 can be positioned (e.g., coupled) between two pods 102 of the plurality of groups of pods extending from the ring structure 502. In some embodiments, a selected amount of clearance (e.g., including no clearance) can be provided between the pods 102. In some embodiments, the outermost pods 102 can be configured to be positioned within the diameter of a portion of the launch vehicle (e.g., a payload fairing), extend to a portion of the launch vehicle (e.g., a payload fairing), or extend beyond a portion of the launch vehicle (e.g., a payload fairing).

[0124] like Fig. 9 As shown, the spacecraft service device 500 can have different configurations of pods 102 coupled around the ring structure 502. For example, a pod 102 can be coupled to each port defined around the ring structure 502, but spaced apart from the ports. A second row of pods 102 can be positioned adjacent to (e.g., coupled to) a corresponding pod 102 that is positioned proximate to the ring structure 502. Another group of pods 102 can be positioned (e.g., coupled) between two pods 102 of the plurality of groups of pods extending from the ring structure 502.

[0125] like Fig.10 As shown, the spacecraft servicing apparatus 500 can have different configurations of pods 102 coupled about the annular structure 502. For example, a selected number of pods 102 (e.g., three pods 102) can be coupled to each port defined about the annular structure 502. A second row of pods 102 can be positioned adjacent to (e.g., coupled to) a respective pod 102 that is positioned proximate to the annular structure 502. Another group of pods 102 can be positioned (e.g., coupled) on either side of each respective pod 102 that is positioned proximate to the annular structure 502.

[0126] Fig.11 Another configuration of a spacecraft service system 10 is shown, which may be similar to and include various features and operations of those discussed above. Fig.11The configuration in can include one or more free-flying pods 102 that are configured to be deployed in orbit (e.g., from Earth via a carrier or launch spacecraft 50 or structure, which can be similar to or the same as the spacecraft servicing device 100 and / or the resupply device 30 described above), to be transported to a target spacecraft 20 (e.g., under power of the pod 102 or via another spacecraft), and then to serve the target spacecraft 20 (e.g., by coupling to the target spacecraft 20).

[0127] like Fig.11 As shown in , the system 10 may include a host or transport spacecraft (e.g., a launch spacecraft 50) that delivers one or more pods 102 to a first initial orbit that is different from (e.g., lower than) the desired final orbit, such as a substantially geosynchronous orbit. For example, the initial orbit may be at least partially surrounded by or within a geosynchronous orbit (e.g., a majority of the initial orbit is closer to the earth than a majority of the geosynchronous orbit). In some embodiments, the initial orbit may include a low earth orbit (LEO), a medium earth orbit (MEO), a polar geostationary orbit, a cis-lunar orbit, or other orbits.

[0128] As described above, in some embodiments, the pod 102 may include a propulsion system for independent travel (e.g., for travel from the launch spacecraft 50 to a position close to the target spacecraft 20 or another spacecraft that is configured to deliver the pod 102 to the target spacecraft). In other embodiments, the pods 102 may completely lack their own propulsion system or lack a propulsion system for moving the pod 102 independently of another spacecraft (e.g., where any propulsive force on the pod 102 is used to adjust the trajectory of the target spacecraft 20 rather than for independently traveling the pod 102).

[0129] In some embodiments, pod 102 may utilize onboard capabilities of pod 102 (e.g., as described above and below) to modify their orbit after pod 102 is released from launch spacecraft 50 so that pod 102 is pre-positioned for capture by the same or a different spacecraft (e.g., satellite servicing assembly 100, launch spacecraft 50, resupply spacecraft 30) that is now located relatively closer to target spacecraft 20 (e.g., closer to geosynchronous orbit) than the launch spacecraft 50 was located when pod 102 was delivered to the first initial orbit. In embodiments where pod 102 lacks a system or device for pre-positioning, another spacecraft (e.g., spacecraft servicing assembly 100 or resupply assembly 30) may retrieve pod 102 from the initial orbit and transport pod 102 to a substantially geosynchronous orbit.

[0130] In some embodiments, pre-positioning of the pod 102 can occur in one or more of the following ways: positioning the pod in a common location where the satellite servicing device 100 can collect the pod with a relatively small orbital change (e.g., essentially simultaneously); pre-positioning in an unused orbital location where there are no frequency utilization constraints and the possibility of collision with other resident space objects or debris is reduced; and / or pre-positioning close to the expected customer spacecraft 20 so that the satellite servicing device 100 has a smaller orbital change to capture the pod 102 to install the pod 102 on the customer spacecraft 20.

[0131] In some embodiments, the pods 102 may be used to deliver payloads to the satellite servicing apparatus 100. Prior to launch, one or more pods 102 may have one or more payloads 101 (e.g., robotic tools) attached to or integrated in the pods 102 that are intended to upgrade or enhance the functional capabilities of the satellite servicing apparatus 100. In some embodiments, the pods 102 may be separated from the carrier spacecraft 50, have their orbit modified for eventual capture by the satellite servicing apparatus 100, be captured by the satellite servicing apparatus 100, and then have the payloads 101 removed by the robotic capabilities included on the satellite servicing apparatus 100. The pods 102 may then be installed on the target spacecraft 20 by the satellite servicing apparatus 100. Such a configuration may enable future upgrades to the overall capabilities of the satellite servicing system 100 without the need to launch an entirely new spacecraft, while enabling the pods 102 to provide maintenance for the target spacecraft 20 after providing the upgrade.

[0132] like Fig.11 As shown in , the pod 102 may travel directly to the target spacecraft 20 (e.g., connect with the target spacecraft 20), or may need to be installed on and / or delivered to the target spacecraft 20 after being substantially pre-positioned in geosynchronous orbit. For example, the pod 102 itself may not be able to independently dock and / or rendezvous with the target spacecraft 20 (e.g., due to lack of necessary systems). In such an embodiment, the pod 102 may use its own propulsion and / or power to change its orbit to rendezvous with the satellite servicing device 100. Once in the desired position, the spacecraft servicing device 100 may use a docking mechanism on the spacecraft servicing device 100 (e.g., such as Figure 2B 1) captures the pod 102. Prior to capture, the pod 102 may remain in orbit close to the satellite service device 100 or the target spacecraft 20 in order to reduce the transit time to reach the target spacecraft 20.

[0133] In some embodiments, a boom assembly (e.g., Figure 3One or more thrusters on a single boom assembly 206 (shown in FIG. 1 ) may be used to facilitate delivery of the pod 102 from an initial launch insertion orbit to its intended orbit. Figure 3 As shown in , the pod 102 may have all the features and capabilities that allow one or more pods 102 to be installed on a launch vehicle as a primary payload or a secondary payload, optionally together with one or more payloads 101, such as Fig.11 . A launch vehicle (e.g., a launch spacecraft 50) may release one or more pods 102 in an initial orbit that is not the final orbit in which the pods 102 will reside (e.g., an orbit in which resupply of the pods 102 occurs). In some embodiments, a pod 102 may use its propulsion system to modify the trajectory of the pod 102 so that the spacecraft servicing system 100 may capture the pod 102 for later installation on the host spacecraft 20. In some embodiments, a pod 102 may use a single (or multiple) thruster booms (e.g., as Figure 3 ) to modify its orbit. The launch spacecraft 50 can place one or more pods 102 in any orbit where the pod 102 has sufficient fuel and power to create delta-velocity to modify the pod 102 orbit to the desired orbit. In some embodiments, the pod 102 can be maneuvered into an orbit for capture (e.g., for installation, for resupply, etc.), which can occur in any orbit where life extension services are being provided (e.g., low earth orbit (LEO), medium earth orbit (MEO), geosynchronous orbit (GEO), polar geostationary orbit, cislunar orbit, or other orbit).

[0134] In some embodiments, additional devices may be included as payload 101 in pod 102 to enable pod 102 to independently maintain or self-operate supplies in payload 101 or deliver them to another spacecraft, while pod 102 is not attached to resupply unit 30, launch spacecraft 50, target spacecraft 20, or satellite servicing unit 100. These additional devices in separate or integrated payload 101 of pod 102 may include any suitable combination of spacecraft control and support devices, such as reaction wheel assemblies, inertial reference units (e.g., gyroscopes), GPS transponders (e.g., including GPS antennas), thrusters, antennas, star trackers, and / or additional solar cells. Pod 102 may include the above in Figure 2A , Figure 2B and Figure 3100 or any of the components discussed in connection with the pod 102. In some embodiments, the pod 102 may utilize one or more onboard computers to use these additional devices to maintain the orientation of the pod 102 in space (e.g., attitude control sensors and actuators), change speed (e.g., propulsion system thrusters, tanks and fuel), determine the pod's trajectory (e.g., ranging transponders or GPS transponders), increase power to support these functions (e.g., additional solar cells), and enhance ground communications (e.g., supplemental antennas).

[0135] Since the embodiments of the present disclosure described above are merely examples of embodiments of the present disclosure, the embodiments described above and shown in the accompanying drawings do not limit the scope of the present disclosure, and the scope of the present disclosure is limited only by the attached claims and their legal equivalents. Any equivalent embodiments are intended to be within the scope of the present disclosure. In fact, various modifications of the present disclosure, in addition to those shown and described herein, for example, alternative useful combinations of the described elements, may become apparent to those skilled in the art. Such modifications and embodiments also fall within the scope of the attached claims and their legal equivalents.

Claims

1. A spacecraft service pod, comprising: a body configured to be deployed from a launch spacecraft in an initial orbit other than a geosynchronous orbit; at least one spacecraft servicing component configured to perform at least one servicing operation on a target spacecraft while coupled to the target spacecraft; a thruster assembly configured to change at least one of an orbit, a velocity, or a momentum of the spacecraft service module; as well as A docking mechanism for coupling the body to the target spacecraft, wherein the thruster assembly is configured to transport the body from the initial orbit to the geosynchronous orbit after the body is deployed from the carrier spacecraft so that the body is positioned relatively closer to the target spacecraft, wherein the docking mechanism is configured to couple to the target spacecraft with the assistance of another coupling spacecraft, and the other coupling spacecraft is configured to hold and position the body relative to the target spacecraft.

2. The spacecraft service pod according to claim 1, wherein: The thruster assembly is located on a boom arm coupled to the body.

3. The spacecraft service pod of claim 1, wherein: The thruster assembly is also configured to change at least one of an orbit, a velocity, or a momentum of the target spacecraft when the body is coupled to the target spacecraft.

4. The spacecraft servicing pod of claim 1 , further comprising a payload carried by the spacecraft servicing pod and configured to be delivered to the target spacecraft.

5. The spacecraft service pod of claim 1, wherein: The thruster assembly is configured to modify the trajectory of the spacecraft servicing pod to position the spacecraft servicing pod proximate to the target spacecraft.

6. A spacecraft service pod, comprising: a body configured to be deployed from a launch spacecraft at an initial orbit other than a final destination orbit of the spacecraft service pod; at least one spacecraft servicing component configured to perform at least one servicing operation on a target spacecraft while coupled to the target spacecraft; as well as A docking mechanism for coupling the body to the target spacecraft, wherein the body is configured to be transported from the initial orbit to the final destination orbit after the body is deployed from the carrier spacecraft, wherein the docking mechanism is configured to couple to the target spacecraft with the assistance of another coupling spacecraft, the other coupling spacecraft being configured to hold and position the body relative to the target spacecraft, and wherein the body of the spacecraft service pod needs to be installed on the target spacecraft with the aid of the other coupling spacecraft after being substantially pre-positioned in the geosynchronous orbit.

7. The spacecraft servicing pod of claim 6, further comprising a thruster assembly configured to transport the body from the initial orbit to the final destination orbit after the body is deployed from the launch spacecraft.

8. The spacecraft service pod of claim 7, wherein: The spacecraft servicing pod lacks the capability to independently rendezvous and dock with the target spacecraft.

9. The spacecraft service pod of claim 6, wherein: The spacecraft servicing pod is configured to be positioned adjacent to the target spacecraft using only the mechanisms of another separate spacecraft.

10. A method of servicing a spacecraft, the method comprising: deploying the pod in an initial orbit lower than geosynchronous orbit; transporting the pod from the initial orbit substantially to the geosynchronous orbit by means of a thruster assembly of the pod; coupling the pod to the spacecraft in the geosynchronous orbit by means of an additional spacecraft; as well as After coupling the pod to the spacecraft, at least one spacecraft servicing operation is performed.

11. The method of claim 10, further comprising coupling the pod to the spacecraft by means of the additional spacecraft, the additional spacecraft being detached from both the pod and the spacecraft prior to the coupling.

12. The method of claim 10, further comprising, after substantially transporting the pod from the initial orbit to the geosynchronous orbit: approaching the spacecraft with the additional spacecraft holding the pod, the additional spacecraft being separated from both the pod and the spacecraft prior to the coupling; and The additional spacecraft holding the pod is rendezvoused with the spacecraft.

13. The method according to claim 10, wherein: The pod lacks one or more pre-positioning features.

14. The method of claim 10, further comprising deploying the pod in the initial orbit via a separate launch spacecraft.

15. The method according to claim 10, wherein: Performing at least one spacecraft servicing operation includes adjusting at least one of an orbit, a velocity, or a momentum of the spacecraft via a thruster assembly of the pod.

16. The method according to claim 10, wherein: Performing at least one spacecraft servicing operation includes delivering at least one spacecraft component to the spacecraft via the pod.

17. A spacecraft service pod, comprising: a thruster assembly comprising at least one thruster, wherein the thruster assembly is configured to change the orbit of the spacecraft service pod from a first orbit to a second orbit while the spacecraft service pod is not coupled to another spacecraft; a body configured to be coupled to the target spacecraft through the other spacecraft at a location adjacent to the target spacecraft; at least one spacecraft servicing component configured to perform at least one servicing operation on the target spacecraft while the body is coupled to the target spacecraft, wherein the at least one spacecraft servicing component includes the thruster assembly and the thruster assembly is further configured to change at least one of an orbit, a velocity, or a momentum of the target spacecraft while the body is coupled to the target spacecraft; and a communication device configured to receive data relating to at least one of an orbit, velocity, or momentum of the target spacecraft from a transmission location remote from the spacecraft servicing pod, and, based on the received data relating to the at least one of the orbit, velocity, or momentum of the target spacecraft received by the communication device, the spacecraft servicing pod configured to control the thruster assembly to change the at least one of the orbit, velocity, or momentum of the target spacecraft while the spacecraft servicing pod is coupled to the target spacecraft.

18. The spacecraft service pod of claim 17, wherein: The communication device is configured to receive the data from the transmission location remote from the spacecraft service pod and also includes a computer programmed to operate the thruster assembly in response to the received data.

19. The spacecraft service pod of claim 17, wherein: The communication device is configured to receive the data via at least one of a wired or wireless communication channel.

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