System for managing a constellation of satellites

Abstract

Constellations of many satellites provide communications between devices such as user terminals (UTs) and ground stations connected to other networks such as the Internet. A constellation management system (CMS) facilitates management and operation of the satellites in the constellation and facilitates exchange of information with other authorized systems to provide for situationally aware operations. The CMS can ingest data such as satellite telemetry, space weather data, object ephemeris data about other orbiting objects, etc. The CMS uses the ingested data to automatically operate the satellites to perform routine activities such as position keeping maneuvers, maintenance activities, interference mitigation, etc. Confirmation from a human operator can be obtained prior to performing certain activities. Activities can be planned and coordinated to minimize resource consumption for individual satellites as well as the constellation. Outputs such as ephemeris data can also be provided to other parties.

Description

[0001] priority

[0002] This application claims priority to U.S. Patent Application No. 17 / 100,276, filed November 20, 2020, entitled “System to Manage Constellation of Satellites,” the entire contents of which are incorporated herein by reference. Background Technology

[0003] A constellation of a large number of satellites, and the payloads carried by these satellites, can be used to provide a variety of services. The constellation must be managed to maintain its safety and effectiveness. Attached Figure Description

[0004] The accompanying drawings illustrate the detailed description. In the drawings, the leftmost number of the reference numeral indicates the figure in which the reference numeral first appears. The same reference numeral used in different figures indicates similar or identical items or features. The figures are not necessarily drawn to scale, and in some figures, the scale or other aspects may be enlarged to facilitate understanding of particular aspects.

[0005] Figure 1 A system for using a constellation management system (CMS) for a satellite constellation is shown according to some implementations.

[0006] Figure 2 It is a block diagram of some satellite-related systems according to some implementation methods.

[0007] Figure 3 A CMS and associated system according to some implementations are shown.

[0008] Figure 4 A CMS planning generation system according to some embodiments is shown, which is used to determine actual planning data for operating satellites in a constellation.

[0009] Figures 5A to 5E Data associated with the operation of the system according to some implementation methods is shown.

[0010] Figure 6 It is a flowchart of the process of determining actual planning data according to some implementation methods and operating the satellite based on the actual planning data.

[0011] Figure 7 It is a flowchart of another process for determining actual planning data according to some implementation methods and operating the satellite based on that actual planning data.

[0012] Figure 8The diagram illustrates, according to some embodiments, the entry of an object into the volume associated with the operation of the payload of a first satellite and the mitigation action.

[0013] Figure 9 It is a flowchart of a process for operating a satellite based on the determination of an object within a volume associated with the operation of a payload, according to some implementation methods.

[0014] While various embodiments have been described herein by way of example, those skilled in the art will recognize that the embodiments are not limited to the described examples or figures. It should be understood that the figures and their detailed description are not intended to limit the embodiments to the specific forms disclosed; rather, the invention is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope defined by the appended claims. The headings used herein are for organizational purposes only and are not intended to limit the scope of the specification or claims. As used throughout this application, the word “may” is used in a permissive sense (i.e., meaning possible) rather than a mandatory sense (i.e., meaning must). Similarly, the words “include, including, and include” mean “including, but not limited to, this.” Detailed Implementation

[0015] Many satellite constellations can be used to provide a wide variety of useful services. For example, communication systems can use satellites in a constellation to wirelessly transmit data between user terminals and ground stations, which in turn connect to other networks, such as the Internet. In another example, remote sensing systems can use satellites in a constellation to acquire remote sensing data for weather forecasting or ground resource management.

[0016] Traditionally, individual satellite operators manage their satellites manually. Manual management is time-consuming, labor-intensive, costly, and can be slow to respond to dynamic events. Manual management does not scale well and quickly becomes infeasible as the number of satellites managed increases. For example, while a traditional organization might be able to manually manage a relatively small constellation of 70 satellites, managing 700 satellites in this way is impractical and could adversely affect the safety and efficiency of the constellation and other resources in orbit.

[0017] This disclosure describes a constellation management system (CMS) that facilitates the operation of a satellite constellation. The CMS acquires and uses data from various sources to maintain situational awareness of the orbital environment and the constellation. The CMS can accept space situational awareness data as input, including information about objects in orbit, such as information obtained from other operators of other satellites, radar tracking, etc. The CMS can accept space weather data indicating space weather as input. For example, space weather data can indicate solar storms, geomagnetic storms, etc. The CMS accepts telemetry data from satellites in the constellation as input. For example, telemetry data can include information about the satellites and position data obtained from Global Navigation Satellite System (GNSS) receivers on each satellite. The CMS can also accept navigation status data about the GNSS used to provide position data as input. For example, navigation status data can indicate changes in the reliability of signals transmitted by the GNSS.

[0018] Various events may occur involving one or more satellites in the constellation. These may include, but are not limited to, satellite positions exceeding a threshold, predicted or actual deviations from their assigned orbits, telemetry values ​​associated with components on the satellite outside a specified range, potential radio interference events (such as another satellite crossing the radio frequency "volume" of a payload on a satellite in the constellation), and time expirations since the satellite's last assessment. These events may require an action.

[0019] CMS uses the ingested information to determine the recommended plan. An event may be associated with several alternative activities. For example, a "payload orientation out of bounds" event may have several alternative activities, such as doing nothing, using another satellite to provide service, or using a different system to reorient the satellite. Costs may be associated with these alternative activities. These costs may represent various factors, such as current battery status, estimated battery discharge, estimated propellant consumption, completion time, etc. Based on these costs, specific alternative activities can be selected and used to generate the recommended plan.

[0020] Other pending activities associated with the satellite can also be retrieved. For example, time-insensitive routine maintenance operations can be retrieved. Non-conflicting pending activities can be combined to generate a proposed plan that includes more than one activity.

[0021] The proposed plan can then be evaluated to determine whether any of the proposed activities exceeds automatic monitoring limits. For example, controllers or limits can be set to restrict automatic maneuvers with a maximum Δv (change in velocity) exceeding 1.5 meters per second (m / s), or to limit the consumption of propellant exceeding a specified amount.

[0022] In some cases, suggested plans may be provided to external systems. For example, information about a suggested trajectory resulting from a suggested maneuver may be provided to an external space situational awareness (SSA) provider. The SSA can accept the information about the suggested trajectory and determine whether a rendezvous with the tracked object is likely to occur within a specified time interval. The SSA can provide the system with response data, such as an indication that a rendezvous is not considered likely. The system can consider the response data and subsequently determine commands to operate the satellite to perform the specified activity. The commands are sent to the satellite, which executes these commands to carry out the activity.

[0023] During typical operations, CMS operates without human intervention. Human intervention may be consulted to confirm proposed plans exceeding automatic oversight limits, to calibrate for operator verification, etc. In addition to managing individual satellites, CMS maintains overall constellation awareness and may request human oversight of activities that could involve many satellites. For example, while a single proposed plan for a maneuver to a specific satellite might be within automatic oversight limits, if the count of satellites in the constellation that have been proposed for simultaneous maneuvers exceeds a threshold, humans can be notified and their verification requested.

[0024] CMS can provide different levels of engagement. For example, a first event indicating a predicted meeting point 10 days from now can be processed automatically. Continuing that example, a second event indicating a predicted meeting point six hours from now might lead to the immediate generation of a suggested plan, which is then quickly presented to a human operator for confirmation.

[0025] A CMS may include one or more machine learning systems. These machine learning systems may be trained, at least in part, based on human input. For example, training data may include event data, satellite status data, ephemeris data, a set of alternative activities, and activities ultimately selected by a human operator. Once trained, the machine learning system can provide various capabilities, such as predicting failures, providing improved recommendations for activities to address various situations, and automatically initiating activities.

[0026] CMS also reduces constellation-related capital costs by managing the use of resources on satellites, such as battery and maneuvering systems. For example, CMS can regulate the use of various resources on individual satellites to avoid depleting the batteries and propellant of individual satellites. As a result, the operational life of individual satellites can be extended, reducing the need for replacement or refurbishment.

[0027] By using the techniques described in this disclosure, the safe and efficient management of the constellation becomes possible. Automation provided by the CMS handles daily events and learns to handle less frequent events over time. The CMS is capable of managing complex inputs and quickly identifying and implementing plans to maintain the constellation and perform tasks associated with the payloads of the satellites within the constellation.

[0028] Explanatory System

[0029] Satellite constellations can be used to provide a wide variety of useful services. For example, a satellite constellation might include sensors that acquire remote sensing data to facilitate ground resource management. In another example, a satellite constellation can provide communication services. The ability to communicate between two or more physically separated locations offers substantial benefits. Communication across regions ranging from countries, states, continents, oceans, and across the entire planet is used to enable a wide range of activities, including health and security, logistics, remote sensing, interpersonal communication, and more.

[0030] Communication facilitated by electronic devices uses electromagnetic signals (such as radio waves or light) to transmit information over distances. These electromagnetic signals have a maximum speed of 299,792,458 meters per second in a vacuum (known as the "speed of light," and abbreviated as "c"). Electromagnetic signals can travel or propagate best when there is an unobstructed path between the transmitter's antenna and the receiver's antenna. This path can be called the "line of sight." While electromagnetic signals can bend or bounce, the ideal communication condition is often an unobstructed line of sight. Electromagnetic signals will also undergo some degree of diffusion or dispersion. Just as ripples in a pond will spread, radio signals or spots of light from a laser will spread over increasingly larger distances.

[0031] As altitude increases, the area of ​​ground visible from that elevated point also increases. For example, the higher you climb in a building or on a mountain, the farther you can see. The same is true for electromagnetic signals used to provide communication services. Relay stations, with radio receivers and transmitters (whose antennas are placed high above the ground), are able to "see" more of the ground and provide communication services to a larger area.

[0032] There are limitations on how tall a structure can be built and where it can be built. For example, building a 2,000-meter-high tower in a remote area to provide communication services to a small number of users is not cost-effective. However, if the relay station is placed on a high satellite in space, which can "see" a larger area, it can potentially provide communication services to many users within a larger geographical area. In this case, the cost of building and operating the satellite is distributed among many different users and becomes cost-effective.

[0033] By placing satellites in orbits around the Earth, they can remain in space for months or years. A satellite's motion in orbit is directly related to its altitude. For example, the higher the altitude, the longer the time period required for the satellite to complete a single orbit. A satellite in a geostationary orbit at an altitude of 35,800 km may appear stationary relative to the ground because the period of a geostationary orbit matches the Earth's rotation. In contrast, a satellite in a non-geostationary orbit (NGO) will appear to move relative to the Earth. For example, a satellite in a circular orbit at 600 km will orbit the Earth approximately once every 96 minutes. To an observer on the ground, a satellite in a 600 km orbit will appear to pass by rapidly, moving from one horizon to another in minutes.

[0034] Building, launching, and operating satellites is costly. Geostationary satellites have traditionally been used for broadcasting and communications services because they are stationary to users on or near Earth and can cover very large areas. This simplifies the equipment needed for ground-based or near-ground stations to track satellites.

[0035] However, there are limitations on how many geostationary satellites can be provided. For example, the number of "slots" or orbital positions that a geostationary satellite can occupy is limited due to technical requirements, regulations, treaties, and other reasons. Placing satellites in such high orbits is also costly in terms of fuel, thus increasing the cost of launching satellites.

[0036] When it comes to sharing the electromagnetic spectrum, the high altitude of geostationary satellites can introduce another problem. Geostationary satellites can "see" so much of the Earth that specific antennas may be needed to focus radio signals on specific areas, such as specific parts of the continent or ocean, to avoid interfering with terrestrial radio services in other areas using the same radio frequencies.

[0037] Using geostationary satellites to provide communication services introduces significant latency due to the time it takes for a signal to travel upwards to a satellite in geostationary orbit and then downwards back to equipment on or near the ground. The latency caused by the single-hop signal propagation time can be at least 240 milliseconds (ms).

[0038] To mitigate these and other issues, satellites within NGOs can be used. NGOs are positioned high enough to provide coverage over a large portion of the ground while remaining low enough to minimize latency due to signal propagation time. For example, a satellite at 600 km introduces only a 4 ms delay per hop. The lower altitude also reduces the distance electromagnetic signals must travel. Compared to geostationary orbit, the reduced distance of NGOs minimizes electromagnetic signal dispersion. This allows satellites within NGOs, as well as equipment communicating with them, to use smaller transmitters, smaller antennas, and so on.

[0039] The system 100 shown here includes multiple artificial satellites 102(1), 102(2), ..., 102(S) (or a “constellation” 114 thereof), each satellite 102 orbiting a celestial body such as the Earth, the Moon, or the Sun in an orbit 104. A ground station 106, a user terminal (UT) 108, user equipment 110, etc., are also shown.

[0040] Constellation 114 may include hundreds or thousands of satellites 102 in various orbits 104. For example, one or more of these satellites 102 may be in a non-geosynchronous orbit (NGO) (where they are in continuous motion relative to the Earth), such as in low Earth orbit (LEO). In this illustration, orbit 104 is depicted as having an arc pointing to the right. In orbit 104, the first satellite (SAT1) 102 (1) precedes the second satellite (SAT2) 102 (2). Reference Figure 2 Satellite 102 was discussed in more detail.

[0041] One or more ground stations 106 include facilities for communicating with one or more satellites 102. Ground stations 106 can transmit data between satellites 102, network management system 150, networks such as the Internet, etc. Ground stations 106 can be located on land, on vehicles, at sea, etc. Each ground station 106 may include a communication system 140. Each ground station 106 can use the communication system 140 to establish communication with one or more satellites 102, other ground stations 106, etc. Ground stations 106 may also connect to one or more communication networks. For example, ground station 106 may connect to a terrestrial fiber optic communication network. Ground station 106 can act as a network gateway, thereby transmitting user data or other data between one or more communication networks and satellites 102. Such data can be processed by ground station 106 and transmitted via communication system 140. The communication system 140 of ground station 106 may include components similar to those of the communication system of satellite 102 and can perform similar communication functions. For example, the communication system 140 may include one or more modems, digital signal processors, power amplifiers, antennas (including at least one antenna implementing multiple antenna elements, such as a phased array antenna), processors, memory, storage devices, communication peripherals, interface buses, etc.

[0042] Satellite 102 communicates with a constellation management system (CMS) 160, which facilitates the management of satellite 102 within constellation 114. CMS 160 can coordinate and direct the operation of satellite 102 within constellation 114. For example, CMS 160 can monitor satellite 102 and maintain it in its assigned orbit, initiate maintenance activities on satellite 102, provide instructions to prevent payloads on satellite 102 from interfering with other satellites, and so on. CMS 160 may include one or more servers or other computing devices. (Reference) Figures 3 to 9 The operation of CMS 160 is discussed in more detail.

[0043] Ground station 106 communicates with network management system 150, which may include scheduling system 156. Network management system 150 also communicates with satellite 102 and UT 108 via ground station 106. Network management system 150 coordinates the operation of ground station 106, UT 108, and other resources of system 100. Network management system 150 may interact with CMS 160 during operation. Network management system 150 may include one or more servers or other computing devices.

[0044] Scheduling system 156 schedules resources to provide communication to UT 108. For example, scheduling system 156 can determine handover data indicating when communication will be transferred from first satellite 102(1) to second satellite 102(2). Continuing this example, scheduling system 156 can also specify communication parameters such as frequency, time slot, etc. During operation, scheduling system 156 can use information such as ephemeris data from CMS 160, communication system status data 158, user terminal data 160, etc.

[0045] System status data 158 may include information such as which UTs 108 are currently transmitting data, satellite availability, currently used satellites 102 by each UT 108, available capacity at a particular ground station 106, diagnostic information, etc. For example, satellite availability may include information indicating which satellites 102 are available to provide communication services or are not available to provide communication services. Continuing this example, CMS 160 may indicate that satellite 102 is unavailable due to malfunction, previous mission operations, maneuvers, etc. Communication system status data 158 may indicate past status, predictions of future status, etc. For example, communication system status data 158 may include information such as projected data traffic based on previously transmitted user data over a specified time interval. In another example, communication system status data 158 may indicate future status, such as satellite 102 being unavailable to provide communication services due to scheduled maneuvers, scheduled maintenance, scheduled decommissioning, etc.

[0046] User terminal data 160 may include information such as the location of a specific UT 108. User terminal data 160 may also include other information, such as the priority assigned to user data associated with that UT 108, information about the communication capabilities of that specific UT 108, etc. For example, a specific UT 108 used by an enterprise may be assigned a higher priority than a UT 108 operating in a residential environment. Over time, different versions of UT 108 may be deployed, with different communication capabilities, such as the ability to operate at specific frequencies, support for different signal coding schemes, and different antenna configurations.

[0047] UT 108 includes a communication system 180 to establish communication with one or more satellites 102. The communication system 180 of UT 108 may include components similar to those in the communication system 212 of satellite 102 and may perform similar communication functions. For example, the communication system 180 may include one or more modems, digital signal processors, power amplifiers, antennas (including at least one antenna implementing multiple antenna elements, such as a phased array antenna), processors, memory, storage devices, communication peripherals, interface buses, etc. UT 108 transmits communication system status data 158 between the constellation of satellite 102 and user equipment 110. Data 112 may include data initiated by user equipment 110 (upstream data) or data addressed to user equipment 110 (downstream data).

[0048] UT 108 can be stationary or in motion. For example, UT 108 can be used in a residential location or on a vehicle (such as a car, boat, aircraft, drone, airplane, etc.). UT 108 includes a tracking system 182. Tracking system 182 uses almanac data 184 to determine tracking data 186. Almanac data 184 provides information indicating the orbital elements of the orbits 104 of one or more satellites 102. For example, CMS 160 can generate almanac data 184 that includes orbital elements, such as “two-line element” data for satellites 102 in constellation 114. Almanac data 184 can be broadcast or otherwise transmitted to UT 108 using communication system 180.

[0049] Tracking system 182 can use the current position of UT 108 and almanac data 184 to determine tracking data 186 for satellite 102. For example, based on the current position of UT 108 and the predicted position and motion of satellite 102, tracking system 182 can calculate tracking data 186. Tracking data 186 may include information indicating azimuth, elevation, distance to a second satellite, time-of-flight correction, or other information associated with a specified time. The determination of tracking data 186 can be ongoing. For example, the first UT 108 can determine tracking data 186 every 100 ms, every second, every 5 seconds, or at other intervals.

[0050] about Figure 1An uplink is a communication link that allows data to be sent from ground station 106, UT 108, or a device other than another satellite 102 to satellite 102. Uplinks are designated as UL1, UL2, UL3, etc. For example, UL1 is the first uplink from ground station 106 to the second satellite 102(2). In contrast, a downlink is a communication link that allows data to be sent from satellite 102 to ground station 106, UT 108, or a device other than another satellite 102. For example, DL1 is the first downlink from the second satellite 102(2) to ground station 106. Satellites 102 can also communicate with each other. For example, inter-satellite links (ISL) 190 provide communication between satellites 102 in constellation 114.

[0051] Devices such as servers use one or more networks 144 to send downstream data 112 addressed to UT 108 or user equipment 110 connected to UT 108. System 100 may include one or more Point of Presence (PoP) systems 146. Each PoP system 146 may include one or more servers or other computing devices located at a facility, such as on Earth. Separate PoP systems 146 may be located at different locations within different facilities. In one implementation, PoP systems 146 may be associated with providing services to multiple UTs 108 located in a specific geographic area.

[0052] In this illustration, the first PoP system 146 at the facility receives data 112 addressed to UT 108 and continues to attempt to deliver data 112 to UT 108. PoP system 146 communicates with one or more ground stations 106(1), 106(2), ..., 106(G) and network management system 150. In some implementations, one or more functions may be combined. For example, PoP system 146 may perform one or more functions of network management system 150. In another example, PoP system 146 may include an integrated ground station 106.

[0053] The PoP system 146 can provide several functions, including determining time slots and communication resources, generating pre-shaped data, etc. One function is to allocate target time slots to downstream data 112. For example, the handover of UT 108 from one satellite 102 to another satellite can be scheduled at 5-second intervals. The target time slot can indicate a specific 5-second interval within which downstream data 112 is expected to be delivered. The target time slot may already be in progress. For example, the target time slot allocated to downstream data 112 may begin 3 seconds before receiving downstream data 112.

[0054] The PoP system 146 determines the UT 108 to which downstream data 112 is addressed and determines first communication resource data. The first communication resource data specifies the communication resources that will cause the delivery of downstream data 112 to UT 108, such as ground station 106, an uplink modem at ground station 106, a satellite, a downlink modem on a satellite, etc. Downstream data 112 may include a single data packet or other data transmission unit, or multiple data packets or other data transmission units associated with delivery to a particular UT 108.

[0055] Satellite 102, ground station 106, user terminal 108, user equipment 110, network management system 150, CMS 160, or other systems described herein may include clocks. These clocks may be synchronized to a common source. In some embodiments, the clock may be a clock specified by the Global Positioning System (GPS) or an atomic clock that provides a high-accuracy and high-precision time source. The output from the clock may be used to coordinate the operation of system 100.

[0056] Various configurations of the system described in this disclosure can be used. For example, CMS 160 can be distributed across multiple data centers to improve reliability and system availability.

[0057] Satellite 102, ground station 106, user terminal 108, user equipment 110, PoP system 146, network management system 150, CMS 160, or other systems described herein may include one or more computer devices or computer systems comprising one or more hardware processors, computer-readable storage media, etc. For example, the hardware processor may include application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), etc. Implementations may be provided as software programs or computer programs including non-transitory computer-readable storage media having instructions (in compressed or uncompressed form) stored thereon, which can be used to program a computer (or other electronic device) to perform the processes or methods described herein. The computer-readable storage media may be one or more of electronic storage media, magnetic storage media, optical storage media, quantum storage media, etc. For example, computer-readable storage media may include, but are not limited to, hard disk drives, optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic or optical cards, solid-state storage devices, or other types of physical media suitable for storing electronic instructions. Further embodiments may be provided as computer program products comprising transient machine-readable signals (in compressed or uncompressed form). Examples of transient machine-readable signals, whether modulated using a carrier wave or unmodulated, include, but are not limited to, signals that a computer system or machine hosting or running a computer program can be configured to access, including signals transmitted via one or more networks. For example, transient machine-readable signals may include software transmissions over the Internet.

[0058] Figure 2This is a block diagram 200 of some systems associated with satellite 102 according to some embodiments. Satellite 102 may include a structural system 202, a control system 204, a power system 206, a maneuvering system 208, one or more sensors 210, and a communication system 212. A pulses per second (PPS) system 214 may be used to provide a timing reference to the systems on satellite 102. One or more buses 216 may be used to transfer data between systems on satellite 102. In some embodiments, redundant buses 216 may be provided. Bus 216 may include, but is not limited to, data buses such as Controller Area Network Flexible Data Rate (CAN FD), Ethernet, Serial Peripheral Interface (SPI), etc. In some embodiments, bus 216 may carry other signals. For example, a radio frequency bus may include coaxial cables, waveguides, etc., to transmit radio signals from one part of satellite 102 to another. In other embodiments, some systems may be omitted or other systems may be added. One or more of these systems may be communicatively coupled to each other in various combinations.

[0059] Structural system 202 includes one or more structural elements to support the operation of satellite 102. For example, structural system 202 may include trusses, supports, panels, etc. Components of other systems may be attached to or housed by structural system 202. For example, structural system 202 may provide mechanical mounting and support for solar panels in power system 206. Structural system 202 may also provide thermal control to keep components of satellite 102 within operating temperature ranges. For example, structural system 202 may include vents, heat sinks, radiators, etc.

[0060] Control system 204 provides various services, such as operating onboard systems, resource management, providing telemetry, and processing commands. For example, control system 204 can guide the operation of communication system 212. Control system 204 may include one or more flight control processors 220. Flight control processor 220 may include one or more processors, FPGAs, etc. Tracking, Telemetry, and Control (TTC) system 222 may include one or more processors, radio equipment, etc. For example, TTC system 222 may include dedicated radio transmitters and receivers to receive commands from ground station 106, send telemetry data to ground station 106, etc. Power management and distribution (PMAD) system 224 can guide the operation of power system 206, control power distribution to satellite 102, control battery 234 charging, etc.

[0061] Power system 206 provides electrical power for the operation of components on satellite 102. Power system 206 may include components that generate electrical energy. For example, power system 206 may include one or more photovoltaic arrays 230 (which include multiple photovoltaic cells), thermoelectric devices, fuel cells, etc. One or more PV array actuators 232 may be used to change the orientation of the photovoltaic arrays 230 relative to satellite 102. For example, PV array actuators 232 may include motors. Power system 206 may include components that store electrical energy. For example, power system 206 may include one or more batteries 234, fuel cells, etc.

[0062] The maneuvering system 208 maintains satellite 102 in one or more of a designated orientation or orbit 104. For example, the maneuvering system 208 may stabilize satellite 102 relative to one or more axes. In another example, the maneuvering system 208 may move satellite 102 to a designated orbit 104. The maneuvering system 208 may include one or more of a reaction wheel 240, a thruster 242, a magnetic torsion bar 244, a solar sail, a drag device, etc. The thruster 242 may include, but is not limited to, a cold gas thruster, a self-igniting thruster, a solid fuel thruster, an ion thruster, an arc jet thruster, an electrothermal thruster, etc. During operation, the thruster 242 may consume propellant. For example, an electrothermal thruster may use water as propellant, thereby using electrical power obtained from the power system 206 to expel water and generate thrust. During operation, the maneuvering system 208 may use data obtained from one or more of the sensors 210.

[0063] Satellite 102 includes one or more sensors 210. Sensors 210 may include one or more engineering cameras 250. For example, an engineering camera 250 may be mounted on satellite 102 to provide images of at least a portion of the photovoltaic array 230. An accelerometer 252 provides information about the acceleration of satellite 102 along one or more axes. A gyroscope 254 provides information about the rotation of satellite 102 relative to one or more axes. Sensors 210 may include a Global Navigation Satellite System (GNSS) 256 receiver, such as a Global Positioning System (GPS) receiver, to provide information about the position of satellite 102 relative to the Earth. In some embodiments, GNSS 256 may also provide information indicating velocity, orientation, etc. One or more star trackers 258 may be used to determine the orientation of satellite 102. A coarse solar sensor 260 may be used to detect the sun, providing information about the relative position of the sun relative to satellite 102, etc. Radar 262 may be used to provide information such as distance and azimuth to objects. For example, radar 262 may be used to determine the presence of objects in nearby orbits. In other embodiments, other sensors, such as LIDAR, optical time-of-flight devices, cameras, etc., can be used. For example, a camera can be used to determine if one or more stellar light sources (such as distant stars) are obscured by an object. Image data provided by the camera can be processed to determine the approximate distance and orientation of the object. Debris sensor 264 can be used to detect impacts, such as micrometeoroid impacts, small debris impacts, etc. For example, debris sensor 264 may include a microphone, microelectromechanical systems (MEMS), or other devices that detect acoustic energy in the chassis of satellite 102 as a result of an impact. In some embodiments, accelerometer 252 can be used to detect impacts. Satellite 102 may also include other sensors 210. For example, satellite 102 may include a horizon detector, lidar, etc.

[0064] Communication system 212 provides communication with one or more other devices, such as other satellites 102, ground station 106, user terminal 108, etc. Communication system 212 may include one or more modems 276, digital signal processors, power amplifiers, antennas (including at least one antenna implementing multiple antenna elements, such as a phased array antenna) 282, processors, memory, storage devices, communication peripherals, interface buses, etc. These components support communication with other satellites 102, ground station 106, user terminal 108, etc., using radio frequencies within a desired spectrum. Communication may involve multiplexing, encoding, and compressing data to be transmitted, modulating the data to the desired radio frequency, and amplifying it for transmission. Communication may also involve demodulating received signals and performing any necessary demultiplexing, decoding, decompression, error correction, and formatting of the signals. Data decoded by communication system 212 can be output to other systems, such as control system 204, for further processing. Output from systems such as control system 204 can be provided to communication system 212 for transmission.

[0065] Each satellite 102 may use one or more antennas 282 or antenna elements to provide a beam for transmitting and receiving radio signals. For example, satellite 102 may have a phased array antenna that allows gain in a specific direction. This gain directs the energy of the transmitted radio frequency signal in that specific direction compared to a non-directional radiator. This increases the signal strength at receivers in UT 108, ground station 106, etc. Similarly, the gain results in an increased received signal strength at satellite 102.

[0066] The beam provided by satellite 102 can include multiple sub-beams. Sub-beams on satellite 102 can communicate with UT 108 using different frequencies, time slots, etc. Each sub-beam provides coverage for a specific geographic area or "coverage zone." Sub-beams offer several advantages compared to a single beam. For example, by using sub-beams, radio frequencies can be reused between the same satellite 102 and other satellites 102 to serve different areas. This allows for increased density and bandwidth of UT 108.

[0067] During its passage over a specific location on Earth, each sub-beam can be directed to that geographic location. While the target geographic location is within range of satellite 102, the sub-beam tracks the target location. As satellite 102 moves in orbit 104, the boundary of the coverage area may change due to the relative angle between satellite 102 and Earth. For example, the coverage area boundary may change from approximately elliptical (when satellite 102 is low on the horizon relative to the target location) to circular (directly overhead), and then to elliptical (when satellite 102 is close to the relative horizon). As satellite 102 moves, the sub-beams can be redirected to another target location. In this configuration, instead of the sub-beams sweeping along the ground trajectory of satellite 102, the sub-beams linger in a first area relative to Earth and are then redirected to a second area.

[0068] In some implementations, a particular modem 276 or a particular group of modems 276 may be assigned to a particular sub-beam. For example, a first modem 276 (1) uses a first sub-beam to provide communication to UT 108 in a first geographic area, while a second modem 276 (2) uses a second sub-beam to provide communication to UT 108 in a second geographic area.

[0069] The communication system 212 may include hardware supporting the inter-satellite link 190. For example, the inter-satellite link FPGA 270 may be used to modulate data transmitted and received by the ISL transceiver 272 to transmit data between satellites 102. The ISL transceiver 272 may operate using radio frequencies, optical frequencies, etc.

[0070] The communication FPGA 274 can be used to facilitate communication between satellite 102 and ground stations 106, UT 108, etc. For example, the communication FPGA 274 can direct the operation of modem 276 to modulate signals transmitted using downlink transmitter 278 and demodulate signals received using uplink receiver 280. Satellite 102 may include one or more antennas 282. For example, one or more parabolic antennas can be used to provide communication between satellite 102 and one or more ground stations 106. In another example, phased array antenna 282 can be used to provide communication between satellite 102 and UT 108.

[0071] Figure 3CMS 160 and associated systems according to some embodiments are shown in section 300. CMS 160 can provide various services, including receiving information from external systems, providing information to those external systems, coordinating with those external systems, planning and initiating activities including those of satellites 102 in constellation 114, coordinating with network management system 150 to facilitate the operation of payloads on satellites 102, etc. The space environment is dynamic and complex, involving many factors beyond our daily experience on Earth. One factor is the number of objects in orbit 104 around the Earth. There are over 25,000 objects being tracked in Earth orbit. These objects include active satellites, decommissioned satellites, spent rocket boosters, lost tools, etc. Some of these objects are under active control, such as satellites with functional control and maneuvering systems, while others are no longer under active control.

[0072] Objects orbiting celestial bodies such as Earth experience various effects that alter or "disrupt" their orbits. These effects are both internal and external. Internal effects can include intentional maneuvers using devices such as thrusters and solar sails, interactions with Earth's magnetic field, etc. Internal effects can include degassing, thermal radiation from satellite components, pressure vessel failure, battery failure, etc. External effects include interactions between the object and the various gravitational fields experienced in Earth's orbit, Earth's atmosphere, magnetosphere, solar activity, collisions with other objects, etc.

[0073] CMS 160 may include various systems, such as flight dynamics system 302, input quality assessment system 304, status management system 306, plan generation system 308, satellite mission control (SMC) system 314, operator interface system 312, etc. CMS 160 can also interact with network management system 150.

[0074] The Flight Dynamics System (FDS) 302 acquires and processes information affecting the position of satellite 102 in constellation 114. Ephemeris data includes information about orbital elements, which describe the orbit 104 of a specific object, such as satellite 102. These orbital elements may include epoch or reference time, distance along the semi-major axis, eccentricity, right ascension at the reference time, etc. FDS 302 can maintain one or more of the assigned ephemeris data 370, actual ephemeris data 372, or predicted ephemeris data 374.

[0075] The assigned ephemeris data 370 indicates the number of orbital elements assigned to a specific satellite 102 to maintain within a certain threshold. The assigned ephemeris data 370 can be determined manually or automatically. For example, a human operator can specify a specific set of orbital elements assigned to satellite 102. In another example, the FDS 302 can automatically determine the assigned ephemeris data 370 for a specific satellite.

[0076] The actual ephemeris data 372 is based on the actual position of satellite 102. The actual ephemeris data 372 indicates the current or previous actual position of the satellite. For example, the actual ephemeris data 372 may be determined based on telemetry data 354 from satellite 102, which includes position data. Figure 5A An example of telemetry data 354 is shown in the figure.

[0077] Predicted ephemeris data 374 is a prediction of the orbital elements of satellite 102. Predicted ephemeris data 374 can be based on the influence of various internal effects (such as planned maneuvers) and external effects (such as space weather and orbital perturbation models).

[0078] FDS 302 can determine interference mitigation data 376, which indicates potential interactions between a communications payload on satellite 102 and other objects, including other satellites 102 in constellation 114. For example, interference mitigation data 376 can indicate that radio frequencies (RF) emitted by a payload on satellite 102 will exceed the space volume containing a specified threshold within a specified time period. Continuing this example, FDS 302 can generate interference mitigation data 376 indicating that the RF payload of a particular satellite 102, or at least a portion thereof, should be deactivated during a specified time interval to avoid interfering with another satellite 102. This will refer to... Figures 8 to 9 Let's discuss this in more detail.

[0079] Various systems can interact with CMS 160. One or more Space Situational Awareness (SSA) systems 320 can provide SSA data 322 to CMS 160. SSA data 322 may include object ephemeris data 324, maneuver data 326, etc. For example, object ephemeris data 324 may include two-line elements (TLE) orbital data, which can be used to determine the predicted position of an object in space. Continuing this example, maneuver data 326 may indicate planned or ongoing maneuvers that may change the motion of an object.

[0080] SSA system 320 can be operated by a government, private company, or other entity. For example, the United States Air Force (USAF) uses various radar and optical tracking resources to acquire tracking data. A portion of this data is available to others to facilitate orbital operations. For example, orbital elements for various objects in orbit 104 tracked by the USAF can be accessed online at space-track.org. In another example, a private company can generate SSA data 322. For example, a commercial service provider can use data from ground-based radar sites to generate object ephemeris data 324 for objects in orbit. In yet another example, operators of other constellations 114 can provide object ephemeris data 324 for satellites 102 under their control.

[0081] Space Weather System 330 provides Space Weather Data 332 to CMS 160. Space Weather System 330 can be operated by a government, private company, or other entity. For example, the National Oceanic and Atmospheric Administration (NOAA) acquires data on the Sun, Earth's upper atmosphere, Earth's magnetosphere, radiation belts, and more from various ground-based and satellite-based resources. For example, Space Weather Data 332 can provide information such as upper atmospheric motion, high-energy particle beams, solar activity, and the location of the South Atlantic anomaly.

[0082] Space weather can significantly affect the operation of Satellite 102. For example, coronal mass ejections (CMEs) from the Sun can cause a significant increase in charged particles, which can interfere with the operation of electronic equipment on Satellite 102. In another example, changes in solar activity can cause variations in atmospheric altitude, thereby altering the aerodynamic drag on the satellite.

[0083] Navigation system 340, including a Global Navigation Satellite System (GNSS), can provide navigation status data 342 to CMS 160. Navigation system 340 can be operated by a government, private company, or other entity. For example, the USAF operates the Global Positioning System (GPS), and Russia operates the Global Navigation Satellite System (GLONASS). The satellite portion of navigation system 340 is susceptible to space weather and may experience equipment failures, etc. Navigation status data 342 can provide information indicating GNSS operation, accuracy data, correction factors, etc. For example, navigation status data 342 may include information indicating the accuracy of navigation signals provided for a specific space volume at a specific time. The GNSS 256 receiver on satellite 102 can use signals from navigation system 340 to determine position data for satellite 102 in constellation 114.

[0084] Other systems 394 may provide additional data 396 to CMS 160. In one embodiment, other systems 394 may include ground weather data indicating observed or forecasted ground weather conditions. Ground weather conditions may affect operations involving satellite 102. For example, heavy precipitation in the atmosphere between satellite 102 and UT 108 may attenuate radio signals along the signal path, resulting in “rain attenuation.” This attenuation may affect communications by causing reduced throughput, requiring additional transmit power, etc.

[0085] In some implementations, the data provided to CMS 160 as described herein may be provided to network management system 150. For example, network management system 150 may use ground weather data to select which satellites 102 will be used to provide communication services to UT 108 in order to minimize radio signal attenuation along the signal path between a given satellite 102 and UT 108.

[0086] The network management system 150 can also provide information to the CMS 160. For example, the network management system 150 can provide the CMS 160 with information such as system status data 158, the geographical location of UT 108, and diagnostic data. The CMS 160 can take this information into account when determining the recommended planning data 384.

[0087] Satellite data system 350 provides satellite data 352 about satellite 102 in constellation 114. For example, satellite data system 350 may receive satellite data 352 from satellite 102 via ground station 106. Satellite data 352 may include telemetry data 354, sensor data 356, etc. Telemetry data 354 may include information indicating the operation of one or more devices on satellite 102. For example, telemetry data 354 may indicate battery level, propulsion dose, etc. Sensor data 356 may include data obtained by one or more sensors 210. For example, sensor data 356 may include position data obtained by GNSS receiver 256. In another example, sensor data 356 may include data indicating objects detected by radar 262.

[0088] Input quality assessment system 304 processes the data ingested by CMS 160 to assess the quality of the data. Input quality assessment system 304 determines quality based on comparisons between different data sources, analysis relative to historical data, comparisons with predefined ranges, or the use of other techniques. For example, CMS 160 may compare at least a portion of first object ephemeris data 324 received from a first SSA system 320 with second object ephemeris data 324 received from a second SSA system 320. If the comparison indicates a change exceeding a threshold, one or both of the first or second object ephemeris data 324 may be ignored. Data determined to have quality below the threshold may be discarded or flagged during subsequent processing by CMS 160.

[0089] During operation, FDS 302 can accept one or more of the following as inputs: SSA data 322, space weather data 332, navigation status data 342, satellite data 352, etc. For example, FDS 302 can use navigation status data 342 and sensor data 356 to determine actual ephemeris data 372 for a specific satellite 102. In another example, FDS 302 can use space weather data 332 and actual ephemeris data 372 to determine predicted ephemeris data 374.

[0090] FDS 302 can use SSA data 322 and predicted ephemeris data 374 to determine whether a rendezvous event is possible. A rendezvous event can be determined when the positions of satellite 102 and another object are less than a threshold distance within a specified time interval. In some cases, a rendezvous event may involve a collision between satellite 102 and an object.

[0091] During operation, FDS 302 can also send data to SSA system 320 or other operators of constellation 114. For example, FDS 302 can send predicted ephemeris data 374 about constellation 114 to SSA system 320. This can reduce operational risk by providing additional opportunities to identify potential synodic events in advance. For example, SSA system 320 can use predicted ephemeris data 374 to generate an independent determination as to whether a synodic event is likely to occur. This determination can then be provided back to CMS 160 or other systems.

[0092] The status management system 306 can maintain status data 378 regarding satellite 102 in constellation 114. The status data 378 may include information about satellite 102, payload, etc. Figure 5A An example of state data 378 is shown in the figure.

[0093] In some implementations, state data 378 may include predictive data. For example, state data 378 may include a prediction of the remaining operational lifetime of a particular system on satellite 102. The state management system 306 may use one or more of decision trees, heuristics, machine learning systems, etc., to determine the predictive data. For example, a machine learning system may include one or more neural networks. Satellite data 352 may be used to train one or more neural networks to determine the correspondence between a specific input (such as a specific value of telemetry data 354) and subsequent values. For example, telemetry data 354 from many satellites 102 may be acquired over time and used to predict the performance of a particular system.

[0094] The planning generation system 308 interacts with other systems and uses the prioritization system 390 to determine actual planning data 392 based on the proposed planning data 384. Actual planning data 392 may include satellite identifiers, priority values ​​indicating the priority of the plan, timing information, information about the systems on satellite 102 used by the plan, and details about operating these systems. An example of actual planning data 392 is provided in... Figure 5E As shown in the diagram, data from other systems (such as data from FDS 302, status management system 306, operator interface system 312, etc.) can lead to the determination of an event.

[0095] In response to this event, the planning generation system 308 identifies one or more activities and, based on these activities, determines recommended planning data 384. For example, as follows regarding... Figure 4 As described, the prioritization system 390 can evaluate alternative activity scenarios to determine recommended plan data 384. Recommended plan data 384 may include satellite identifiers, priority values ​​indicating the priority of the recommended plan, timing information, etc. Activities described in recommended plan data 384 may be constrained by one or more values ​​and may be specified by automatic constraint data 382. For example, Δv indicated in recommended plan data 384 for a maneuver automatically generated by plan generation system 308 may be constrained by a value specified in automatic constraint data 382. Recommended plan data 384 can be evaluated and, if approved, used to determine actual plan data 392. For example, if the values ​​within recommended plan data 384 are within the limits specified by automatic constraint data 382, ​​recommended plan data 384 may be approved for use as actual plan data 392. In some cases, operator input may be received to confirm the use of recommended plan data 384 as actual plan data 392. For example, recommended plan data 384 may be provided to operator interface system 312 to receive user input via a user interface.

[0096] As mentioned above, the planning generation system 308 can take into account data from the network management system 150. For example, during a maneuver, satellite 102 may be unable to operate its payload to provide communication services to UT 108. When satellite 102 is located above a portion of the Earth's surface containing a low number of UT 108s in each region, the suggested planning data 384 can specify maneuvers to be performed for a particular satellite 102 to reduce the number of UT 108s that will be affected by the reduction in available communication resources.

[0097] Actual planning data 392 can be transmitted to satellite mission control system 314. Satellite mission control system 314 can perform one or more functions. In one embodiment, satellite mission control system 314 can confirm that actual planning data 392 will not lead to adverse events associated with satellite 102. For example, satellite mission control system 314 can confirm that operations involving updates to the onboard computer, which could cause disruptions to the onboard computer, will not be performed when satellite 102 is transiting the South Atlantic anomaly. Satellite mission control system 314 can determine control data 398, which includes one or more commands executed by satellite 102 to implement actual planning data 392. Satellite mission control system 314 can send control data 398 to the appropriate satellite 102. Satellite 102 then executes one or more commands in control data 398. For example, a TTC ground station can be used to send control data 398 to satellite 102. TTC system 222 on satellite 102 can receive and process control data 398.

[0098] In some implementations, one or more of the functions described with respect to the plan generation system 308 may be performed at least in part by the SMC system 314. For example, proposed plan data 384 may be passed to the SMC system 314, which then generates actual plan data 392.

[0099] During operation, the planning generation system 308 can also send data to other operators of the SSA system 320 or constellation 114. For example, the planning generation system 308 can send information about the proposed maneuver in the proposed planning data 384 to the SSA system 320. This can reduce operational risk by providing additional opportunities to identify potential rendezvous events in advance. For example, the SSA system 320 can use the information about the proposed maneuver and other available information to make an independent determination as to whether the maneuver is likely to result in a rendezvous event. This determination can then be provided back to the planning generation system 308 in CMS 160 or to other systems. For example, if the SSA 320 determines that the proposed maneuver is unlikely to result in a rendezvous event, the planning generation system 308 can generate actual planning data 392 that includes the proposed maneuver.

[0100] The operator interface system 312 provides functionality that allows other operators (such as human operators or autonomous operators) to interact with CMS 160. For example, the operator interface system 312 can provide a user interface for human operators. Operators can provide input via the user interface, indicating approval of recommended plan data 384, changes to recommended plan data 384, etc. The general monitoring system 360 can provide various functions, such as a "dashboard" or overall status of constellation 114. The general monitoring system 360 can monitor larger-scale operations, such as maneuvering a group of satellites 102.

[0101] Operator interface system 312 may include control verification system 362. Control verification system 362 allows operators to be introduced into the operational workflow. The operation of operator interface system 312 may be constrained by operator restriction data 364. Operator restriction data 364 may specify thresholds regarding what activities can be approved by a single operator, which activities require multiple operators, etc. For example, control verification system 362 may require approval from two human operators to perform certain activities, such as deorbiting satellite 102. Examples of operator restriction data 364 are provided in... Figure 5B As shown in the image.

[0102] In an implementation of the communications service provided by constellation 114, CMS 160 can interact with network management system 150, which operates and manages the communications service and associated payloads. For example, FDS 302 can determine interference mitigation data 376, which, relative to a specific location on Earth, indicates that satellite 102 (1734) will be within a radio frequency (RF) volume generated by transmitters on satellite 102 (941). To avoid radio frequency interference, in response to interference mitigation data 376, the radio transmitter payload on satellite 102 (941) can be shut down during the time period when satellite 102 (1734) will be within that volume.

[0103] In another example, certain activities may render satellite 102 unavailable for providing communication services. For instance, during a maneuver, satellite 102 may be unable to provide communication services to UT 108. CMS 160 may provide information to network management system 150 indicating which satellites 102 are unavailable and the time intervals during which these satellites 102 are unavailable.

[0104] about Figures 5A to 5E Additional descriptions of some of the data mentioned above have been discussed. For illustrative purposes, and not as a limitation, various protocols for maintaining the security of System 100 have not been shown. For example, one or more cryptographic techniques may be used to protect data transfers between systems, verify the source of data ingested into CMS 160, etc.

[0105] CMS 160 may utilize one or more of decision trees, heuristics, machine learning systems, or other techniques during operation. For example, a machine learning system may include one or more neural networks. One or more neural networks may be trained using data associated with the operation of system 100. For example, plan generation system 308 may include a neural network trained at least in part using actual plan data 392 and associated input data to CMS 160 that is determined to be related to the actual plan data 392.

[0106] Figure 4 A planning generation system 308 of CMS 160 according to some embodiments is shown, which is used to determine actual planning data 392 for operating satellites 102 in constellation 114.

[0107] Event data 402 can be generated within or associated with CMS 160. Event data 402 indicates an event or occurrence associated with one or more satellites 102 in constellation 114. Figure 5C An example of event data 402 is shown in the figure.

[0108] FDS 302 can generate event data 402 based on the position or orientation of satellite 102. For example, event data 402 can be generated if predicted ephemeris data 374 indicates that the predicted orbit of satellite 102 will deviate from the assigned orbit indicated by assigned ephemeris data 370 by more than a threshold. Continuing with this example, event data 402 can be generated if the predicted deviation of the position of satellite 102 exceeds a threshold.

[0109] The status management system 306 can generate event data 402 based on status data 378 from satellite 102. Events can be determined by comparing one or more values ​​of the status data 378 with historical values, specified thresholds, specified ranges, etc. For example, event data 402 can be generated if the battery level drops below a minimum threshold or rises above a maximum threshold.

[0110] The operator interface system 312 can generate event data 402. For example, the operator can generate event data 402 indicating a potential failure in a specified component used in a subset of satellite 102.

[0111] The satellite mission control system 314 can generate event data 402. For example, the satellite mission control system 314 can generate event data 402 indicating that one or more commands in the control data 398 were not executed.

[0112] Other systems may also generate event data 402. In one embodiment, a scheduler system (not shown) may generate event data 402 when a timer expires, at a specified time, etc. For example, event data 402 indicating events for evaluating or checking a specific satellite 102 may be generated at specified intervals (such as every four hours). In response to event data 402, FDS 302 may update predicted ephemeris data 374, interference mitigation data 376, etc. In response to event data 402, the status management system 306 may assess the satellite's health status.

[0113] Event data 402 is provided to the event processing system 410 of the planning generation system 308. The event processing system 410 can associate a specific event with corresponding activity data 412. Activity data 412 can indicate the activity category and can include constraints on the resulting activity, such as "execution time" or "completion time." For example, FDS 302 can issue event data 402 for the "payload orientation out of limit" event, thereby indicating that at the predicted time, antenna 282 associated with the downlink of satellite 102 will not be pointed in the direction required to maintain communication service to a specified location on Earth. Figure 5C An example of activity data 412 is shown in the figure.

[0114] Event processing system 410 can determine activity data 412 indicating one or more activity categories in response to event data 402. Continuing the previous example, in response to event data 402 of "payload orientation out of limit", the resulting activity data 412 can indicate the activity category of "reorienting the satellite for the payload" and data indicating "completion time", which indicates when the action needs to be completed.

[0115] Activity evaluation system 414 can accept activity data 412 as input and determine priority data 416 and activity alternative data 418. Priority data 416 associates priority values ​​with the activity categories indicated by activity data 412. In some embodiments, priority values ​​can be assigned to specific activity categories. In another embodiment, priority values ​​can vary based on one or more factors. For example, priority values ​​may increase as the interval between the current time and the "completion time" decreases. Priority data 416 can also indicate whether an activity category should be performed at a specified time. Figure 5C An example of prioritized data 416 is shown in the figure.

[0116] An activity category can be associated with one or more possible activities. Activity alternative data 418 can provide alternative actions associated with a specific activity category. Activity alternative data 418 may also include other information associated with the alternative actions. For example, activity alternative data 418 may indicate a satellite cost value 506, which indicates the cost associated with an activity performed by satellite 102. Figure 5D An example of activity alternative data 418 is shown in the figure.

[0117] The satellite cost value 506 can be generalized to the cost associated with a particular type of satellite, or it can be specific to a particular individual satellite 102. For example, the satellite cost value 506 for a maneuver involving propellant consumption can be proportional to the amount of propellant remaining on a particular satellite 102. As a particular satellite 102 depletes its propellant, the corresponding cost for activities using the remaining propellant may increase.

[0118] Activity alternative data 418 can also associate payload cost value 508 with the activity. Payload cost value 508 can indicate how the activity will affect the operation of the payload. For example, if the payload provides communication services, a low payload cost value 508 can indicate negligible damage to providing communication services to UT 108, while a high payload cost value 508 indicates failure to provide communication services to UT 108.

[0119] Automatic constraint data 382 can specify values ​​that indicate constraints on activities initiated without operator intervention. For example, automatic constraint data 382 can specify the maximum Δv per maneuver, the maximum number of simultaneous maneuvers permitted on constellation 114 or its subgroups, the maximum number of adjacent maneuvers, maximum power consumption, etc. Automatic constraint data 382 can control the automatic actions of system 100. The value of automatic constraint data 382 can be determined by the operator, data analysis, system operational constraints, etc. For example, a threshold count for the maximum number of simultaneous maneuvers can be specified by a human operator. In another example, the threshold count for the maximum number of simultaneous maneuvers can be determined based on the number of simultaneous maneuvers that the satellite mission control system 314 can support. Figure 5B An example of automatic limit data 382 is shown in the figure.

[0120] Some events indicated by event data 402 can be associated with activities that are more time-sensitive and others that are less time-sensitive. For example, maneuvering may be highly time-sensitive, requiring precise timing. In contrast, maintenance activities (such as operating actuators) can be performed at any time within a range of days. The time sensitivity of these activities can be specified by priority data 416, activity alternative data 418, etc.

[0121] CMS 160 or associated systems may generate event data 402 in response to other event data 402. For example, an unexpected acceleration of satellite 102 exceeding a threshold, as indicated by satellite data 352, may cause the state management system 306 to generate first event data 402. In response to the first event data 402, FDS 302 may determine the actual ephemeris data 372 and generate second event data 402 indicating the deviation from the assigned ephemeris data 370.

[0122] The prioritization system 390 of the planning generation system 308 can evaluate activity alternative data 418 for pending activities and determine activity set data 420. For example, the prioritization system 390 can select specific activities from the activity alternative data 418 based on one or more of satellite cost value 506, payload cost value 508, or other cost values. The prioritization system 390 can select the activity from the activity alternative data 418 that has the lowest sum of satellite cost value 506 and payload cost value 508. Figure 5D An example of activity alternative data 418 is shown in the figure.

[0123] The activity set data 420 determined by the prioritization system 390 can also specify the order or sequence in which activities should be executed. Activities can be ordered based on priority values, completion times, system dependencies, etc. For example, activities can be sorted so that activities with earlier completion times are executed before those with later completion times. In another example, if there is not enough available power to operate the magnetic torquer, the activity "charge the battery" can replace "operate the magnetic torquer".

[0124] Activity set data 420 can be used to determine recommended planning data 384. Recommended planning data 384 can specify satellite 102, the priority of the overall plan, information about the activities to be performed, and other information. For example, recommended planning data 384 can indicate whether the recommended activities are expected to result in satellite 102 leaving an allocated volume in orbit 104 associated with the allocated ephemeris data 370, information about the satellite system to be used, etc. Figure 5E An example of suggested plan data 384 is shown in the figure.

[0125] Suggested plan data 384 can be used to determine actual plan data 392. For example, if the activities specified in suggested plan data 384 are within the limits specified in automatic constraint data 382, ​​then suggested plan data 384 can be used as actual plan data 392. In another example, suggested plan data 384 can be provided to an operator interface system 312. Human operators or autonomous operators can be presented with suggested plan data 384 and can approve, modify, reject, or take other actions regarding the suggested plan. Actual plan data 392 can indicate one or more activities.

[0126] Actual planning data 392 may include one or more activities that have been combined together. For example, actual planning data 392 may include one or more activities indicated in first suggested planning data 384 associated with satellite 102, second suggested planning data 384 associated with satellite 102, etc.

[0127] In some implementations, additional verification or checks may be performed before determining the actual planned data 492. For example, the proposed planned data 384 concerning a maneuver may lead to consultation with external systems, such as one or more SSA systems 320, to determine whether the proposed maneuver would result in a possible rendezvous event. Response data may be received from the external system and may be used to evaluate the proposed planned data 384. Continuing with this example, if the response data indicates a possible rendezvous event, the proposed planned data 384 may be rejected, and new proposed planned data 384 may be generated.

[0128] Figures 5A to 5E Data associated with the operation of system 100 according to some embodiments is shown. The data may include parameter 502 and associated value 504.

[0129] like Figure 5AAs shown, telemetry data 354 may include information indicating the operation of one or more devices on satellite 102. For example, telemetry data 354 may include one or more of the following: satellite identifier, position data, propulsion dose, time maneuvering system used, propellant temperature, photovoltaic efficiency, state of charge, total charge cycles of battery 234, payload status, reaction wheel saturation, single-event disturbance count, etc. The satellite identifier indicates a specific satellite 102 in constellation 114. Position data includes information indicating one or more of the following: position relative to a reference point and one or more axes, orientation relative to one or more axes, etc. For example, position data may be generated by GNSS 256 and indicate latitude, longitude, altitude, orientation, etc. Propulsion dose may indicate the remaining mass of propellant available for use by one or more thrusters 242. The time maneuvering system used may indicate the total elapsed operating time of thruster 242. Propellant temperature may indicate the temperature of the propellant used by one or more thrusters 242. Photovoltaic efficiency may indicate the performance of PV array 230. Photovoltaic efficiency can be evaluated relative to a specified baseline (such as a test engineering baseline). The state of charge (SOC) can indicate the SOC of one or more batteries 234, representing how much power is available within the battery 234. The total charge cycles of battery 234 can indicate the cumulative count of charge and discharge cycles that battery 234 has undergone. The payload status can indicate the overall operation of the payload, such as whether the payload is offline according to command, offline due to malfunction, nominally operating, or non-nominal operating. The reaction wheel saturation can indicate the momentum saturation level of one or more reaction wheels 240. The single-event disturbance count can indicate the number of single-event disturbances that occur in a specified electronic circuit system, such as due to high-energy particle impacts on semiconductor devices. Telemetry data 354 may also include other data.

[0130] like Figure 5A As shown, status data 378 may include information about satellite 102, payload, etc. Status data 378 may be based at least in part on telemetry data 354. Status data 378 may include a satellite identifier as described above. Status data 378 may include information indicating the type, block, version, or configuration of satellite 102. Status data 378 may include overall satellite metrics. Overall satellite metrics may indicate the overall usability of satellite 102. For example, overall satellite metrics may include a weighted average of propulsion dose, time maneuvering system used, photovoltaic efficiency, total charge cycles, payload status, etc. Over time, as systems on satellite 102 degrade, the value 504 of the overall satellite metric may decrease.

[0131] Status data 378 may include payload metrics that indicate the overall usefulness of the payload. For example, payload metrics may be based on payload status, state of charge of battery 234 that powers the payload, available transmitter power output, number of devices in the payload that have failed, etc.

[0132] Status data 378 may include maneuver system metrics indicating the capability of maneuver system 208. For example, maneuver system metrics may include a weighted average of propulsion dose, time-dependent thrusters used, propellant temperature, state of charge, reaction wheel saturation, etc. Over time, as the system on satellite 102 degrades, the value of the maneuver system metric 504 may decrease.

[0133] The automatic operation of CMS 160 may be constrained by value 504 specified in automatic limit data 382. For example... Figure 5B As shown, automatic constraint data 382 may include a maximum (max) Δv for each maneuver, thereby specifying the maximum permissible velocity change for a given maneuver or sequence of maneuvers for a particular satellite 102. Automatic constraint data 382 may specify a maximum simultaneous maneuver, thereby specifying the maximum number of simultaneous maneuvers permitted within any given time constellation 114. Maximum adjacent maneuvers specify the maximum number of maneuvers permitted to occur among adjacent satellites 102. For example, a maximum adjacent maneuver value 504 may constrain maneuvers that would result in a single maneuver involving more than three adjacent satellites 102. Minimum (min) variance of the maneuver may specify the minimum variance between the actual position and the assigned position, which would result in event data 402 for maneuvering satellite 102. For example, if the variance between the actual position and the assigned position exceeds the minimum variance value 504 for the maneuver, event data 402 indicating the deviation is generated, and this event data results in a maneuver to reposition satellite 102.

[0134] Automatic limit data 382 can specify the maximum amount of activity for a satellite per unit time. For example, CMS160 can permit a maximum of 75 activities per hour involving satellite 102.

[0135] You can specify a minimum number of alternative inputs to be used for an action. For example, to avoid incorrect actions caused by bad data from a single source, CMS 160 can specify that input data from two different systems may be required before generating the recommended plan data 384.

[0136] Automatic limit data 382 can also specify maximum limits for autonomous maneuvering. For example, "orientation change <" can specify a maximum number of degrees, which can be specified by the recommended plan data 384 for automatic operation. Orientation change angles greater than this value 504 can be submitted to the operator interface system 312 for confirmation by a human operator.

[0137] Automatic limit data 382 can specify the maximum power consumed during an activity. For example, activities exceeding this threshold in the suggested plan data 384 can be submitted to the operator interface system 312 for confirmation by a human operator.

[0138] In other implementations, the automatic limit data 382 may include other parameters 502 and associated values ​​504.

[0139] Operator restriction data 364 is also available. Figure 5B As shown in the diagram, operator restriction data 364 specifies the thresholds for which activities have been calibrated to require operator approval. In the illustration shown here, parameter 502 can include Δv for each maneuver requiring operator approval. For example, this could specify the maximum speed change resulting from a 1.5 m / s maneuver requiring operator authorization.

[0140] The estimated final propellant value can specify the minimum amount of propellant remaining after a maneuver that can be performed automatically. For example, the estimated final propellant threshold can include a reserve to deorbit satellite 102. This parameter 502 can be used to determine when to allow the operator to confirm the recommended plan data 384, which includes maneuvers expected to deplete propellant below the specified threshold.

[0141] Operator restriction data 364 can specify whether an activity that would cause satellite 102 to leave its assigned orbital volume requires operator approval. For example, if a predicted maneuver would cause satellite 102 to move to a different assigned orbital volume, operator approval can be obtained to confirm the proposed plan data 384. Other activities that require operator approval, as specified in operator restriction data 364, may include changing the orbital plane, deorbiting, etc.

[0142] Figure 5C The diagram illustrates parameters 502 and values ​​504 that event data 402 may include. An event identifier can indicate a specific event, distinguishing one event from another. Event data 402 may include a satellite identifier indicating the satellite 102 associated with event data 402. An event type can specify the category of the event, such as "payload orientation out of limit," "payload malfunction," "PV array failure," etc. A timing type specifies whether the timing associated with the event is actual or predicted. For example, an actual event may be caused by an occurrence event indicated by telemetry data 354, while a predicted event may be caused by a predicted rendezvous event with another object. Event data 402 may include the time associated with the event. For example, this could include the actual time that the event has occurred, or the time associated with a predicted event. Event data 402 may also include other information.

[0143] Activity data 412 may include satellite identifiers, activity categories, execution (time), completion (time), etc. The activity category indicates the overall grouping associated with the activity. For example, an activity involving reorienting satellite 102 may be associated with the activity category “Reorienting the satellite for the payload.” Execution (time) may specify the expected start time of the activity associated with the activity category. In contrast, completion (time) may specify the time by which the activity associated with the activity category must be completed. For example, completion (time) may specify the time by which reorientation needs to be completed to provide an appropriate response to a predicted “payload orientation out of bounds.” Activity data 412 may also include other information.

[0144] Prioritization data 416 associates priority values ​​with activity categories indicated by activity data 412. For example, the activity category "Reorient the satellite for the payload" can be executed if the execution (time) is less than a threshold of "Yes" and has a priority of "115". Execution (time) less than a threshold can indicate that the interval between the current time and the execution (time) specified in activity data 412 is less than a threshold. This parameter 502 can be used to prioritize activities that are marked as started or have execution times that are rapidly approaching. The priority value associated with the activity category can be specified manually or based on one or more factors. For example, the priority value can be determined based on whether the activity category involves a maneuver, the time remaining until execution (time), the time remaining until completion (time), etc.

[0145] Figure 5D Activity alternative data 418 is shown. As described above, an activity category can be associated with one or more possible activities. Activity alternative data 418 can provide alternative actions associated with a specific activity category. Activity alternative data 418 may also include other information associated with the alternative actions. For example, activity alternative data 418 may indicate a satellite cost value 506, a payload cost value 508, etc. Satellite cost value 506 indicates the cost of the entire satellite 102 associated with the activity. For example, satellite cost value 506 may be calculated based on estimated propellant consumption, power consumption, total duration of the activity, etc. Payload cost value 508 indicates the cost of operating the payload. Payload cost value 508 may be determined based on the number of customers of the affected payload, whether the payload is available during the activity, etc. For example, if the payload cannot provide service to any UT 108, the payload cost value may have a maximum value of 255.

[0146] In this illustration, the activity category “Reorienting the Satellite for the Payload” is associated with at least five possible alternative activities: none (drift), servicing satellite 102 to a different geographic area on Earth that does not require reorientation, reorientation using propulsion, reorientation using a magnetic torquer, reorientation using a reaction wheel, etc. Each of these different activities results in a different satellite cost value 506 and payload cost value 508. For example, servicing a different geographic area has a relatively low satellite cost value 506 because it does not consume power or propellant, but has a relatively high payload cost value because servicing the originally scheduled geographic area is not possible. In another example, reorientation using propulsion such as thruster 242 exhibits a high satellite cost value 506 due to propellant consumption, and also results in a high payload cost value 508 because the payload may not be able to serve UT 108 while thruster 242 is operating.

[0147] The activity set data 420 determined by the prioritization system 390 can also specify the order or sequence in which activities should be executed. Activities can be ordered based on priority values, completion times, system dependencies, etc. In this example, the activity with a specified completion time, operating the magnetic torquer to reorient satellite 102, has been prioritized first, followed by the activity of performing a battery maintenance cycle and the PV actuator operation of moving the PV array actuator 232.

[0148] As shown in 5E, the proposed plan data 384 includes information such as satellite identifiers, priority of the proposed plan, execution (time), completion (time), and other information. For example, the proposed plan data 384 may indicate whether a maneuver is involved, the activity category of one or more of the specified activities, information about the satellite system used, whether the activity is expected to cause the satellite to leave its assigned orbital volume, and action details such as values ​​504 for various parameters 502.

[0149] An example of actual planning data 392 is also shown at 5E. In this illustration, the proposed planning data 384 has been approved, and the actual planning data 392 includes information about priorities, timing, and activities to be performed. For example, the actual planning data 392 may specify the time window within which the plan is to be completed, specify the action details of the specific commands to be used to operate satellite 102 to perform the activities, etc.

[0150] Figure 6 This is a flowchart 600 illustrating the process of determining actual planning data 392 and operating satellite 102 based on that actual planning data 392, according to some implementation methods. This process can be implemented at least in part by CMS 160.

[0151] At 602, a first event is identified that is associated with at least the first satellite 102. For example, FDS 302 may generate event data 402 indicating that the payload orientation of the first satellite 102 exceeds a limit at a specific time.

[0152] In step 604, the first ephemeris data for the first satellite 102 is determined. For example, FDS 302 can generate predicted ephemeris data 374.

[0153] At 606, the first state data of the first satellite 102 is determined. For example, the state management system 306 can determine state data 378 indicating available propellant, battery power, etc.

[0154] At 608, recommended planning data 384 is determined, at least in part, based on first ephemeris data and first state data 378. For example, event processing system 410 of planning generation system 308 can determine activity data 412. Activity evaluation system 414 can then determine priority data 416 and activity alternative data 418. Prioritization system 390 can use priority data 416, activity alternative data 418, and automatic constraint data 382 to determine activity set data 420 and recommended planning data 384.

[0155] At 610, if the recommended planning data 384 includes activities outside the automatic monitoring limits specified by the automatic limit data 382, ​​the process proceeds to 612. If the recommended planning data 384 includes activities within the automatic monitoring limits specified by the automatic limit data 382, ​​the process proceeds to 614.

[0156] Automatic constraint data 382 can set constraints on activities on individual activities, activity groups, or two or more satellites 102 in constellation 114. In one embodiment, the plan generation system 308 can determine a first suggested plan dataset including first suggested plan data 384. The first suggested plan dataset also indicates suggested activities involving a first count of satellites 102 in constellation 114 within a first time interval. If the first count is less than a threshold, the suggested plan data 384 can be approved for further action. If the first count is greater than or equal to the threshold, the suggested plan data 384 can be presented for operator confirmation (such as via operator interface system 312), can be delayed, or other actions can be taken. For example, automatic constraint data 382 can limit the number of simultaneous maneuvers of satellites 102 within constellation 114 to 195. Continuing with this example, this limitation can be used to prevent large-scale simultaneous maneuvers that could complicate the operation of FDS 302.

[0157] At 612, operator input is obtained for the approved proposed plan data 384. For example, the operator interface system 312 can present the proposed plan data 384 to the operator for approval, modification, rejection, or other actions. Once approved or modified, the process continues to 614.

[0158] At 614, actual plan data 392 is determined in part based on suggested plan data 384. For example, suggested plan data 384 can be approved and used as actual plan data 392. In another example, a human operator can add or modify one or more additional activities to suggest plan data 384 to determine actual plan data 392.

[0159] At 616, the first satellite 102 is operated at least in part based on actual planning data 392. For example, actual planning data 392 may be provided to the satellite mission control system 314. The satellite mission control system 314 may determine control data 398, which includes one or more commands to operate one or more devices on the first satellite 102.

[0160] Figure 7 This is a flowchart 700 of another process, according to some implementation methods, of determining actual planning data 392 and operating satellite 102 based on that actual planning data 392. This process can be implemented at least in part by CMS 160.

[0161] At 702, recommended planning data 384 is determined. For example, planning generation system 308 can determine recommended planning data 384 in response to event data 402. Continuing this example, FDS 302 can determine event data 402 indicating a potential rendezvous event with another object.

[0162] At 704, determine whether the proposed plan data 384 indicates a maneuver. If no, the process can proceed to 706. If yes, the process can proceed to 712.

[0163] At 706, the first actual plan data 392 is determined. For example, if no changes are made to the suggested plan data 384, the suggested plan data 384 can be used as the first actual plan data 392.

[0164] At 708, control data 398 is determined based on the first actual planning data 392. For example, the satellite mission control system 314 can use the actual planning data 392 to determine the control data 398, which includes one or more commands to operate the satellite 102.

[0165] At 710, satellite 102 is operated based on control data 398. For example, satellite mission control system 314 can send control data 398 to satellite 102 for execution.

[0166] Returning to 704, if the proposed maneuver data 384 indicates a maneuver, then at 712, the proposed maneuver data 384, or a portion thereof, is sent to the external SSA system 320. For example, information regarding the proposed maneuver and the predicted ephemeris data 374 associated with its completion can be sent to the SSA system 320. The SSA system 320 can process this information and determine whether the proposed maneuver will lead to adverse consequences, such as potential synod events, potential interference events, etc. The SSA system 320 can provide response data to the CMS 160 indicating this determination.

[0167] At 716, if the response data indicates no conflict, the process proceeds to 706. If the response data from SSA system 320 indicates a possible adverse outcome, the process proceeds to 718.

[0168] In 718, the second recommended plan data 384 is determined at least in part based on the response data. For example, if the response data indicates a possible rendezvous event, the second recommended plan data 384 can be determined to indicate different maneuvers to avoid adverse outcomes.

[0169] In some implementations, it may be possible to continue using the suggested plan data 384 without waiting for response data. For example, a maneuver may take some time to execute and may need to be performed at a specific time. If no response is received from the SSA system 320 before the command to execute the maneuver should be initiated, the system may proceed from 716 to 706.

[0170] Figure 8 Image 800 illustrates, according to some embodiments, an object entering a volume associated with the operation of the payload of the first satellite 102 and mitigation actions. Services provided by the payload of satellite 102 may involve transmitting radio signals, receiving radio signals, operating one or more sensors to acquire remote sensing data, etc.

[0171] In this illustration, Earth 802 is shown, with a first satellite 102(1) and a second satellite 102(2) shown in orbit 104. Each satellite 102 has an associated spatial volume 804 associated with a corresponding payload. For example, the first spatial volume 804(1) may represent a solid angle including a first radio signal generated by a radio transmitter and transmitted by an antenna 282 in the first payload of the first satellite 102(1), while the second spatial volume 804(2) represents a second radio signal from the second payload of the second satellite 102(2).

[0172] As shown here, object 806 is predicted to be within the first volume 804(1) at time T=1. Due to the different relative positions of the second satellite 102(2) in this illustration, the second volume 804(2) does not include object 806. Object 806 may include another satellite 102 in constellation 114, other satellites 102, debris, etc.

[0173] In some implementations, FDS 302 can determine the predicted positions of satellite 102, object 806, and the orientation of volume 804 associated with the payload of satellite 102.

[0174] The operation of the payload can be modified based on the presence of object 806 within volume 804(1). For example, if the payload is a synthetic aperture radar, the presence of object 806 may obstruct and otherwise interfere with the acquisition of data about features on Earth 802. In another example, if the payload is a radio transmitter and object 806 includes a radio receiver at or near the same frequency, the output from the radio transmitter may overload the radio receiver of object 806.

[0175] FDS 302 can generate interference mitigation data 376. For example, interference mitigation data 376 can indicate that volume 804 includes an object 806 that may affect the payload of satellite 102, or that volume 804 includes an object 806 that may be affected by the payload of satellite 102. Continuing this example, interference mitigation data 376 can indicate that at time T=1, the first satellite 102(1) will have an object 806 in the first volume 804(1), while the second satellite 102(2) will not have an object 806 in the second volume 804(2).

[0176] Based at least in part on interference mitigation data 376, system 100 can mitigate potential interference involving object 806. For example, a first payload or a portion thereof of the first satellite 102(1) can be deactivated at time T=1, while alternatively, a second payload of the second satellite 102(2) can be used to provide service to a specific location on Earth 802 at time T=1, as shown in the illustration at actual T=1. Continuing this example, network management system 150 can use interference mitigation data 376 provided by FDS 302 to determine which satellite 102 will provide service to a specific location on Earth 802.

[0177] Interference mitigation may also include other activities. For example, the payload may be manipulated to use a third volume 804 that is predicted not to include object 806. In another example, the first satellite 102(1) may be redirected such that the first volume 804(1) no longer includes object 806.

[0178] Figure 9This is a flowchart 900 of a process for operating satellite 102 based on the determination of the volume 804 of object 806 within the volume associated with the operation of the payload, according to some implementations.

[0179] In 902, based on the first predicted ephemeris data 374 associated with the first time, the position and orientation of the first satellite 102(1) in constellation 114 at the first time are determined. For example, FDS 302 can determine the position and orientation of the first satellite 102(1) at a future time t=1.

[0180] At 904, a first spatial volume 804(1) associated with the operation of the payload of the first satellite 102(1) at a first time is determined. For example, a solid angle associated with the antenna radiation pattern from the antenna 282 on the first satellite 102(1) can be determined.

[0181] At 906, the first object 806 is predicted to be within the first volume 804(1) at a first time. For example, the position of the first object 806 can be determined by FDS 302 based on SSA data 322 received from SSA system 320.

[0182] At 908, first data for controlling the payload of the first satellite 102(1) is determined. For example, the plan generation system 308 can generate actual plan data 392. The satellite mission control system 314 can use the actual plan data 392 to determine control data 398.

[0183] At 910, the first data is sent to the first satellite 102(1). For example, control data 398 can be sent from ground station 106 to the first satellite 102(1).

[0184] In 912, the first satellite 102(1) operates based on the first data. For example, the first satellite 102(1) can execute control data 398.

[0185] The time, interval, duration, etc., used in this disclosure can be specified relative to actual clock time, system time, system timing reference, discrete time slots, interval indicators, etc. For example, a time tick can be specified relative to a period that resets at 10-minute intervals. In another example, actual clock time obtained from the Global Positioning System or other precise timing systems can be used.

[0186] The processes and methods discussed in this disclosure can be implemented in hardware, software, or a combination thereof. In the context of software, the described operations represent computer-executable instructions stored on one or more computer-readable storage media that, when executed by one or more hardware processors, perform the operations. Generally, computer-executable instructions include routines, programs, objects, components, data structures, etc., that perform specific functions or implement specific abstract data types. Those skilled in the art will readily recognize that certain steps or operations shown in the above figures can be eliminated, combined, or performed in an alternating order. Any step or operation can be performed serially or in parallel. Furthermore, the order in which operations are described is not intended to be construed as limiting.

[0187] Implementations may be provided as software programs or computer program products comprising a non-transitory computer-readable storage medium having instructions (in compressed or uncompressed form) stored thereon, which can be used to program a computer (or other electronic device) to perform the processes or methods described herein. The computer-readable storage medium may be one or more of electronic storage media, magnetic storage media, optical storage media, quantum storage media, etc. For example, computer-readable storage media may include, but is not limited to, hard disk drives, optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic or optical cards, solid-state storage devices, or other types of physical media suitable for storing electronic instructions. Further implementations may also be provided as computer program products comprising transient machine-readable signals (in compressed or uncompressed form). Examples of transient machine-readable signals, whether modulated using a carrier wave or unmodulated, include, but are not limited to, signals that a computer system or machine hosting or running a computer program can be configured to access, including signals transmitted via one or more networks. For example, transient machine-readable signals may include software transmissions over the Internet.

[0188] Individual instances of these programs can be executed on any number of individual computer systems or distributed among them. Therefore, although certain steps have been described as being performed by certain devices, software programs, processes, or entities, this is not necessary, and those skilled in the art will understand various alternative implementations.

[0189] Furthermore, those skilled in the art will readily recognize that the above-described technology can be used in a variety of devices, physical spaces, and situations. Although the subject matter has been described in language specific to structural features or methodological actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described. Rather, specific features and actions are disclosed as illustrative forms of implementing the claims.

[0190] Terms and Conditions

[0191] 1. A system comprising:

[0192] A constellation of artificial satellites orbiting a celestial body, the constellation comprising a first satellite; and

[0193] Computer system, the computer system being used for:

[0194] Receive first data indicating the ephemeris of an object orbiting the first celestial body;

[0195] Receive second data indicating space weather;

[0196] Receive third data indicating the status of one or more global navigation satellite systems;

[0197] Receive fourth data indicating telemetry from at least the first satellite;

[0198] A fifth data point indicating the ephemeris of the first satellite is determined, based at least in part on the first data, the second data, the third data, and the fourth data.

[0199] Based at least in part on the fourth data, a first event associated with the first satellite is determined;

[0200] In response to the first event and based at least in part on the fifth data, determine the first recommended plan data;

[0201] The first actual plan data is determined based on the first suggested plan data;

[0202] Determine sixth data indicating one or more commands associated with the first actual plan data; and

[0203] The sixth data is sent to the first satellite, wherein the first satellite executes the one or more commands.

[0204] 2. The system as described in Clause 1, wherein the computer system is further configured to:

[0205] Determine that at least a portion of the first recommended plan data exceeds the value of the automatic limit data;

[0206] The first suggested plan data is presented via a user interface;

[0207] Receive input indicating approval of the first proposed plan data via the user interface; and

[0208] The first actual plan data includes the first suggested plan data.

[0209] 3. The system as described in Clauses 1-2, wherein the first event includes one or more of the following:

[0210] The prediction deviation of the first satellite's position, where the prediction deviation exceeds a threshold.

[0211] The predicted rendezvous event involving the first satellite,

[0212] Telemetry values ​​exceeding a threshold associated with components on the first satellite, or

[0213] Values ​​exceeding the threshold associated with space weather.

[0214] 4. The system as described in Clauses 1-3, wherein the computer system is further configured to:

[0215] Determine a first recommendation plan dataset including the first recommendation plan data, wherein the first recommendation plan dataset indicates recommendation activities involving a first count of satellites in the satellite constellation within a first time interval; and

[0216] It is determined that the first count is less than the threshold.

[0217] 5. The system as described in Clauses 1-4, wherein the computer system is further configured to:

[0218] Based at least in part on the fifth data, a first spatial volume associated with the operation of the payload of the first satellite at a first time is determined;

[0219] Based at least in part on the first data, it is determined that a first object is predicted to be within the first volume at the first time, wherein the first event is associated with the prediction that the first object is within the first volume at the first time; and

[0220] The sixth data indicates one or more commands for one or more of the following:

[0221] The payload is operated to use a second spatial volume, wherein the first object is predicted not to be in the second volume.

[0222] Reorient the first satellite, or

[0223] When the first object is predicted to be within the first volume, at least a portion of the payload of the first satellite is deactivated.

[0224] 6. The system as described in Clauses 1-5, wherein the computer system is further configured to:

[0225] Based at least in part on the fifth data, a first spatial volume associated with the operation of the first payload of the first satellite at least at the first time is determined;

[0226] Based at least in part on the first data, it is determined that a first object is predicted to be within the first volume at the first time, wherein the first event indicates that the first object is within the first volume at the first time;

[0227] The second satellite of the artificial satellite constellation is determined, at least in part, based on the first data;

[0228] Determine the seventh data related to the operation of the second satellite;

[0229] The second satellite is operated using the seventh data to provide communication services to a first location on the first celestial body at the first time; and

[0230] When predicting that the first object is within the first volume, the sixth data causes at least a portion of the first payload of the first satellite to be deactivated.

[0231] 7. The system as described in Clauses 1-6, wherein the computer system is further configured to:

[0232] The data indicating the first proposed plan indicates a maneuver associated with the first satellite;

[0233] The first proposed plan data is sent to a space situational awareness system, wherein the space situational awareness system maintains information about one or more tracked objects associated with the first celestial body;

[0234] Receive response data from the space situational awareness system; and

[0235] The first actual plan data is based on the response data.

[0236] 8. The system as described in Clauses 1-7, wherein the computer system is further configured to:

[0237] In response to the first event, determine:

[0238] The first recommended activity has a first cost value, and

[0239] The second recommended activity has a second cost value, wherein the second cost value is less than the first cost value; and

[0240] The first recommended plan data includes the second recommended activity.

[0241] 9. The system as described in Clauses 1-8, wherein the computer system is further configured to:

[0242] Determine the first recommended activity associated with the first event;

[0243] In response to the first event, a second event associated with the first satellite is determined; a second recommended activity associated with the second event is determined; and

[0244] The first recommended plan data is also based on the first recommended activity and the second recommended activity.

[0245] 10. A computer-implemented method, comprising:

[0246] Receive the first ephemeris data indicating an object orbiting the celestial body;

[0247] Receive second data indicating space weather;

[0248] Receive third data indicating the status of a navigation system that provides position data to one or more satellites in a constellation;

[0249] Receive fourth data indicating telemetry from one or more satellites in the constellation;

[0250] A fifth data point indicating ephemeris data of one or more satellites in the constellation is determined, based at least in part on one or more of the first data, the second data, the third data, or the fourth data.

[0251] Determine the first event associated with the first satellite in the constellation;

[0252] In response to the first event, first recommended plan data is determined, wherein the first recommended plan data indicates a first recommended activity and a second recommended activity;

[0253] Determine sixth data indicating one or more commands associated with the second recommended activity; and

[0254] The sixth data is sent to the first satellite, wherein the first satellite executes the one or more commands.

[0255] 11. The computer-implemented method as described in Clause 10, further comprising:

[0256] A first recommendation plan dataset is determined, comprising the first recommendation plan data, wherein the first recommendation plan dataset indicates recommendation activities involving a first count of satellites in the constellation within a first time interval; and

[0257] The determination of the sixth data is associated with the determination that the first count is less than the threshold.

[0258] 12. The computer-implemented method as described in Clauses 10-11, determining the first event includes:

[0259] Based at least in part on the fifth data, the first spatial volume is determined to be associated with the operation of the payload of the first satellite at a first time.

[0260] Based at least in part on the first data, it is determined that the first object is predicted to be within the first volume at the first time; and

[0261] The sixth data indicates one or more commands for one or more of the following:

[0262] The payload is operated to use a second spatial volume, wherein the first object is predicted not to be in the second volume.

[0263] Reorient the first satellite, or

[0264] When the first object is predicted to be within the first volume, at least a portion of the payload of the first satellite is deactivated.

[0265] 13. The computer-implemented method as described in clauses 10-12, further comprising:

[0266] The data indicating the first proposed plan indicates a maneuver associated with the first satellite;

[0267] Send the first recommended plan data to an external system;

[0268] Receive response data from the external system; and

[0269] The sixth data is determined based on the response data.

[0270] 14. The computer-implemented method as described in clauses 10-13, further comprising:

[0271] Based on the first event, it is determined that:

[0272] The first proposed activity has a first cost value, and

[0273] The second proposed activity has a second cost value, wherein the second cost value is less than the first cost value; and

[0274] The first recommended plan data is determined based on the first cost value and the second cost value.

[0275] 15. The computer-implemented method as described in clauses 10-14, further comprising:

[0276] Determine the first recommended activity associated with the first event;

[0277] In response to the first event, a second event associated with the first satellite is determined; a third recommended activity associated with the second event is determined; and

[0278] The first recommended plan data is also based on the third recommended activity.

[0279] 16. The computer-implemented method according to clauses 10-15, wherein the second proposed activity includes one or more maneuvers of the first satellite; and further includes:

[0280] Determine the predicted trajectory that the one or more maneuvers would result in not rendezvous with the object orbiting the first celestial body as indicated by the first data;

[0281] Determine that the resource consumption associated with the one or more maneuvers is below a first threshold; and

[0282] The predicted orbit is determined to be within a second threshold of the first orbit assigned to the first satellite.

[0283] 17. A system comprising:

[0284] Computer system, the computer system being used for:

[0285] Receive the first ephemeris data indicating an object orbiting the celestial body;

[0286] Receive second data indicating space weather;

[0287] Receive third data indicating the status of one or more global navigation satellite systems that provide position data to one or more satellites in the constellation;

[0288] Receive fourth data indicating telemetry from one or more satellites in the constellation;

[0289] Identify the first event associated with the first satellite;

[0290] Fifth data that determines one or more restrictions associated with the automatic operation of one or more satellites;

[0291] The first plan data is determined based on one or more of the fifth data and the first, second, third, or fourth data.

[0292] Determine the sixth data that indicates one or more commands associated with the first plan data; and

[0293] To operate the first satellite in response to one or more commands.

[0294] 18. The system as described in Clause 17, wherein the computer system is further configured to:

[0295] It is determined that at least a portion of the first plan data exceeds one or more values ​​indicated by the fifth data;

[0296] Present at least a portion of the first plan data via a user interface;

[0297] Receive seventh data indicating approval of the first plan data via the user interface; and

[0298] The sixth data point was determined based on the seventh data point.

[0299] 19. The system as described in Clauses 17-18, wherein the computer system is further configured to:

[0300] Based at least in part on the fourth data, the first spatial volume associated with the operation of the payload of the first satellite at the first time was determined;

[0301] Based at least in part on the first data, it is determined that a first object is predicted to be within the first volume at the first time, wherein the first event is associated with the prediction that the first object is within the first volume at the first time; and

[0302] The sixth data indicates one or more commands for one or more of the following:

[0303] The payload is operated to use a second spatial volume, wherein the first object is predicted not to be in the second volume.

[0304] Reorient the first satellite, or

[0305] When predicting the first object within the first volume, at least a portion of the payload is deactivated.

[0306] 20. The system as described in Clauses 17-19, wherein the first event includes one or more of the following:

[0307] The prediction deviation of the first satellite's position, where the prediction deviation exceeds a threshold.

[0308] The predicted rendezvous event involving the first satellite,

[0309] Telemetry values ​​exceeding a threshold associated with components on the first satellite,

[0310] Values ​​exceeding a threshold associated with space weather

[0311] The time elapsed since the last evaluation of the first satellite has exceeded the threshold, or

[0312] Object prediction is based on the spatial volume associated with the operation of the first satellite's payload.

Claims

1. A system for managing a satellite constellation, comprising: A constellation of artificial satellites orbiting a celestial body, the constellation comprising a first satellite; and Computer system, the computer system being used for: Receive first data indicating the ephemeris of an object orbiting the first celestial body; Receive second data indicating space weather; Receive third data indicating the status of one or more global navigation satellite systems; Receive fourth data indicating telemetry from at least the first satellite; A fifth data point indicating the ephemeris of the first satellite is determined, based at least in part on the first data, the second data, the third data, and the fourth data. Based at least in part on the fifth data, a first spatial volume associated with the operation of the payload of the first satellite at a first time is determined; Based at least in part on the first data, a first event is determined that the first object is predicted to be within the first spatial volume at the first time, wherein the first event is associated with the prediction that the first object is within the first spatial volume at the first time; In response to the first event and based at least in part on the fifth data, determine the first plan data; Determine sixth data that indicates one or more commands associated with the first plan data; as well as The sixth data is transmitted to the first satellite, wherein the first satellite executes the one or more commands; The sixth data indicates one or more commands for one or more of the following: The first satellite is operated to use a second spatial volume, wherein the first object is predicted not to be within the second spatial volume. Reorient the first satellite, or When the first object is predicted to be within the first spatial volume, at least a portion of the payload of the first satellite is deactivated.

2. The system for managing a satellite constellation as claimed in claim 1, wherein determining the first planning data includes: In response to the first event and based at least in part on the fifth data, first recommended plan data is determined, and based on the first recommended plan data, first actual plan data is determined; and The sixth data indicates one or more commands associated with the first actual plan data.

3. The system for managing a satellite constellation as described in claim 2, wherein the computer system is further configured to: Determine that at least a portion of the first recommended plan data exceeds the value of the automatic limit data; The first suggested plan data is presented via a user interface; Receive input indicating approval of the first proposed plan data via the user interface; and The first actual plan data includes the first suggested plan data.

4. The system for managing a satellite constellation as described in claim 2 or 3, wherein the computer system is further configured to: Determine a first recommendation plan dataset including the first recommendation plan data, wherein the first recommendation plan dataset indicates recommendation activities involving a first count of satellites in the satellite constellation within a first time interval; and It is determined that the first count is less than the threshold.

5. The system for managing a satellite constellation as claimed in any one of claims 1-3, wherein the computer system is further configured to: Based at least in part on the fifth data, a first spatial volume associated with the operation of the first payload of the first satellite at least at the first time is determined; Based at least in part on the first data, it is determined that a first object is predicted to be within the first spatial volume at the first time, wherein the first event indicates that the first object is within the first spatial volume at the first time; The second satellite of the artificial satellite constellation is determined, at least in part, based on the first data; Determine the seventh data associated with the operation of the second satellite; The second satellite is operated using the seventh data to provide communication services to a first location on the first celestial body at the first time. and When predicting that the first object is within the first spatial volume, the sixth data causes at least a portion of the first payload of the first satellite to be deactivated.

6. The system for managing a satellite constellation as described in claim 2 or 3, wherein the computer system is further configured to: The data indicating the first proposed plan indicates a maneuver associated with the first satellite; The first proposed plan data is sent to a space situational awareness system, wherein the space situational awareness system maintains information about one or more tracked objects associated with the first celestial body; Receive response data from the space situational awareness system; and The first actual plan data is based on the response data.

7. The system for managing a satellite constellation as described in claim 2 or 3, wherein the computer system is further configured to: In response to the first event, determine: The first recommended activity has a first cost value, and The second recommended activity has a second cost value, wherein the second cost value is less than the first cost value; and The first recommended plan data includes the second recommended activity.

8. The system for managing a satellite constellation as claimed in any one of claims 1-3, wherein the computer system is further configured to: Determine the first recommended activity associated with the first event; In response to the first event, a second event associated with the first satellite is determined; Identify a second recommended activity associated with the second event; and The first recommended plan data is also based on the first recommended activity and the second recommended activity.

9. A computer-implemented method for managing a satellite constellation, comprising: Receive the first ephemeris data indicating an object orbiting the celestial body; Receive second data indicating space weather; Receive third data indicating the status of a navigation system that provides position data to one or more satellites in a constellation; Receive fourth data indicating telemetry from one or more satellites in the constellation; A fifth data point indicating ephemeris data of one or more satellites in the constellation is determined, based at least in part on one or more of the first data, the second data, the third data, or the fourth data. Based at least in part on the fifth data, a first spatial volume associated with the operation of the payload of the first satellite at a first time is determined; Based at least in part on the first data, a first event is determined that the first object is predicted to be within the first spatial volume at the first time, wherein the first event is associated with the prediction that the first object is within the first spatial volume at the first time; In response to the first event and based at least in part on the fifth data, determine the first plan data; Determine sixth data that indicates one or more commands associated with the first plan data; as well as The sixth data is transmitted to the first satellite, wherein the first satellite executes the one or more commands; The sixth data indicates one or more commands for one or more of the following: The first satellite is operated to use a second spatial volume, wherein the first object is predicted not to be within the second spatial volume. Reorient the first satellite, or When the first object is predicted to be within the first spatial volume, at least a portion of the payload of the first satellite is deactivated.

10. The computer-implemented method for managing a satellite constellation as described in claim 9, wherein, Determining the first plan data includes determining the first recommended plan data that instructs the first recommended activity and the second recommended activity; and The sixth data indicates one or more commands associated with the second recommended activity.

11. The computer-implemented method for managing a satellite constellation as described in claim 10, further comprising: Determine a first recommendation plan dataset that includes the first recommendation plan data, wherein the first recommendation plan dataset indicates recommendation activities involving a first count of satellites in the constellation within a first time interval; and The determination of the sixth data is associated with the determination of the first count being less than the threshold.

12. The computer-implemented method for managing a satellite constellation as described in claim 10 or 11, further comprising: The data indicating the first proposed plan indicates a maneuver associated with the first satellite; Send the first recommended plan data to an external system; Receive response data from the external system; and The sixth data is determined based on the response data.

13. The computer-implemented method for managing a satellite constellation as described in claim 10 or 11, further comprising: Based on the first event, it is determined that: The first proposed activity has a first cost value, and The second proposed activity has a second cost value, wherein the second cost value is less than the first cost value; and The first recommended plan data is determined based on the first cost value and the second cost value.

14. The computer-implemented method for managing a satellite constellation as described in claim 10 or 11, further comprising: Determine the first recommended activity associated with the first event; In response to the first event, a second event associated with the first satellite is determined; Identify a third recommended activity associated with the second event; and The first recommended plan data is also based on the third recommended activity.

15. The computer-implemented method for managing a satellite constellation as described in claim 10 or 11, wherein the second proposed activity includes one or more maneuvers of the first satellite; and further includes: Determine the predicted trajectory that the one or more maneuvers would result in not rendezvous with the object orbiting the first celestial body as indicated by the first data; Determine that the resource consumption associated with the one or more maneuvers is below a first threshold; as well as The predicted orbit is determined to be within a second threshold of the first orbit assigned to the first satellite.

Images