Spacecraft servicing devices and related components, systems, and methods

Abstract

The present invention relates to spacecraft servicing devices and related methods, which may include a propellant tank configured to store propellant and positioned in fluid communication with a portion of a target spacecraft.

Description

[0001] This application is a divisional application of Chinese patent application No. PCT / US2018 / 043182, Chinese application No. 201880053949.4, filed on July 20, 2018, entitled "Spacecraft Service Apparatus and Related Components, Systems and Methods".

[0002] Priority requirements

[0003] This application claims the benefit of U.S. Provisional Patent Application Serial No. 62 / 535,747, filed July 21, 2017, pursuant to 35 U.S. SC §119(e), the entire disclosure of which is hereby incorporated by reference. Technical Field

[0004] Embodiments of this disclosure generally relate to servicing devices for spacecraft (e.g., satellites). In particular, embodiments of this disclosure relate to servicing devices comprising one or more detachable servicing devices (e.g., pods or modules) and associated devices, systems, components, and methods. Background Technology

[0005] Thousands of spacecraft orbit the Earth to perform a variety of functions, including telecommunications, GPS navigation, weather forecasting, and mapping. Like all machines, spacecraft periodically require servicing to extend their functional lifespan. Services can include, for example, component repair, refueling, orbital ascent, station holding, momentum balancing, or other maintenance. To do this, a servicing spacecraft can be sent into orbit, docked with the customer spacecraft requiring maintenance, and then perform life-extending maintenance on the customer spacecraft after docking. Without life-extending maintenance, these spacecraft would be out of service, and replacements would typically be very expensive and take years to arrive.

[0006] A review of various types of publications, including this category of astronomical equipment and other special expeditions and issues, Comprehensive beauty country interests No. 3, 508, 723, No. 4, 219, 17 1, No.4,391,423, No.4,588,150, No.4,664,344, No.4,898,348, No.5,005 ,786, No.5,040,749, No.5,094,410, No.5,299,764, No.5,364,046, No.5,372,340, No.5,490,075, No.5,511,748, No.5,735,488, No.5,803,407, No. .5,806,802, No.6,017,000, No.6,299,107, No.6,330,987, No.6,484,973, No.6,523,784, No.6,742,745, No.6,843,446, No.6,945,500, No.6,969 ,030, No.7,070,151, No.7,104,505, No.7,207,525, No.7,216,833, No.7,216,834, No.7,240,879, No.7,293,743, No.7,370,834, No.7,438,264, No. .7,461,818, No.7,484,690, No.7,513,459, No.7,513,460, No.7,575,199, No.7,588,213, No.7,611,096, No.7,611,097, No.7,624,950, No.7,815 ,149, No.7,823,837, No.7,828,249, No.7,857,261, No.7,861,974, No.7,861,975, No.7,992,824, No.8,006,937, No.8,006,938, No.8,016,242, No. .8,056,864, No.8,074,935, No.8,181,911, No.8,196,870, No.8,205,838, No.8,240,613, No.8,245,370, No.8,333,347, No.8,412,391, No.8,448,904, No.8,899,527, No.9,108,747, No.9,302,793, No.9,321,175 and 9,399,295; U.S. Patent Publication No.2004 / 0026571, No.2006 / 0145024, No.2006 / 0151671, No.2007 / 0228220, No.2009 / 0001221, No.2012 / 0112009, No.2012 / 0325972, No.2013 / 010319 3. No.2015 / 0008290, No.2015 / 0314893, No.2016 / 0039543 and No.2016 / 0039544; European Patent No.EP 0541052, No. 0741655B1, No. 0741655B2 and 1654159; PCT Publications No. 2005 / 110847, No. 2005 / 118394, No. 2014 / 024199 and 2016 / 030890; Japanese Patent No. JPH01282098; "Automated Rendezvous and Docking of Spacecraft", Fehse, Wigbert, Cambridge University Press (2003); "On-Orbit Servicing Missions: Challenges and Solutions for Spacecraft Operations", Sellmaier, F. et al., 2010 Space Operations Conference, AIAA 2010-2159 (2010); and "Towards a Standardized Grasping and Refueling On-Orbit Servicing for GeoSpacecraft, Medina, Alberto et al., Acta Astronautics et al., 134 1-10 (2017); DEOS – The In-Flight Technology Demonstration of German's Robotics Approach to Dispose Malfunctioned Satellites, Reintsema, D. et al., the entire disclosure of each of these patents is hereby incorporated by reference.

[0007] However, providing a reliable and robust service to a spacecraft with a wide range of service options would be prohibitively expensive. On the other hand, lower-cost options may not offer the variety of service options and reliable, robust service capabilities necessary for many applications. Summary of the Invention

[0008] Embodiments of this disclosure include a spacecraft servicing apparatus comprising a body and a propellant tank, the body being configured to be deployed from a host spacecraft at a location adjacent to a target spacecraft, the propellant tank being coupled to the body. The propellant tank is configured to store at least one propellant and to communicate with a portion of the target spacecraft's propulsion system. The spacecraft servicing apparatus is configured to, during at least one servicing operation and while coupled to the target spacecraft, supply at least a portion of the at least one propellant from the propellant tank to the target spacecraft's propulsion system, bypassing any fuel storage sections of the target spacecraft.

[0009] Embodiments of this disclosure also include a spacecraft servicing device comprising a body and a propellant tank, the body being configured to be deployed from a host spacecraft at a location adjacent to a target spacecraft, wherein the host spacecraft houses multiple spacecraft servicing devices, and the propellant tank is coupled to the body. The propellant tank is configured to store at least one propellant and is positioned in fluid communication with a portion of the target spacecraft. The propellant tank is configured to supply at least a portion of the at least one propellant to the target spacecraft during at least one servicing operation and while coupled to the target spacecraft.

[0010] Embodiments of this disclosure also include a spacecraft service pod having a body, a thruster assembly, and a communication device, the body being configured to be deployed from a host spacecraft, the thruster assembly being coupled to the body and configured to change at least one momentum of the target spacecraft after coupling to the target spacecraft, and the communication device being configured to receive data relating to the at least one momentum of the target spacecraft from a location remote from the spacecraft service pod.

[0011] Embodiments of this disclosure also include a spacecraft service pod having a body, a thruster assembly, and a communication device. The body is configured to be deployed from a host spacecraft, the thruster assembly is configured to change at least one of the target spacecraft's orbit or velocity after being coupled to the target spacecraft, and the communication device is configured to receive data relating to the target spacecraft from a location remote from the spacecraft service pod.

[0012] Embodiments of this disclosure also include a spacecraft service pod having a body and a communication device. The body is configured to be deployed from a host spacecraft and coupled to a target spacecraft, and the communication device is configured to receive data relating to the target spacecraft. The communication device includes a flexible frequency transceiver configured to selectively change its communication frequency. The flexible frequency transceiver is configured to communicate with a ground station associated with the target spacecraft and to change its communication frequency to match the communication frequency of the ground station.

[0013] Embodiments of this disclosure also include a method for supplying propellant to a target spacecraft using a spacecraft servicing device. The method includes: transferring the spacecraft servicing device to the target spacecraft using a host spacecraft; supplying at least a portion of the propellant from the spacecraft servicing device's propellant tank to the target spacecraft's propulsion system via a fluid passage of the propulsion system; and bypassing any fuel storage volume of the propulsion system in fluid communication with the fluid passage of the propulsion system while supplying the propellant from the propellant tank to the target spacecraft's propulsion system.

[0014] Embodiments of this disclosure also include a method for servicing a spacecraft. The method includes: transferring a pod of a spacecraft servicing device to the spacecraft using the spacecraft servicing device; coupling the pod to the spacecraft while it is in contact with the spacecraft servicing device; and, after the thruster assembly of the spacecraft servicing device is coupled to the spacecraft, altering at least one of the spacecraft's orbit or velocity using the thruster assembly.

[0015] The above overview is not intended to describe every illustrated embodiment or implementation of this disclosure. Attached Figure Description

[0016] The accompanying drawings included in this application are incorporated in and form a part of this specification. These drawings illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the disclosure. These drawings are merely illustrative of certain embodiments and do not limit the scope of the disclosure.

[0017] Figure 1A This is a simplified schematic diagram of a spacecraft servicing system and a target spacecraft to be serviced according to one or more embodiments of this disclosure.

[0018] Figure 1B It can be shown that Figure 1A An embodiment of a fuel tank supply device implemented on one or more devices of a spacecraft service system.

[0019] Figure 2AThis is a simplified schematic diagram of a spacecraft service apparatus according to one or more embodiments of the present disclosure.

[0020] Figure 2B This is a simplified schematic diagram of a spacecraft service apparatus according to one or more embodiments of the present disclosure.

[0021] Figures 2C to 2K Various embodiments of the coupling mechanism according to one or more embodiments of the present disclosure are shown.

[0022] Figure 2L This is a perspective view of a spacecraft servicing apparatus according to one or more embodiments of the present disclosure.

[0023] Figure 3 This is a simplified schematic diagram of a mission extension pod according to one or more embodiments of the present disclosure.

[0024] Figure 4 This is a simplified schematic diagram of a mission extension pod attached to a spacecraft along two thrust vector directions according to one or more embodiments of the present disclosure.

[0025] Figure 5 This is another simplified schematic diagram of a mission extension pod attached to a spacecraft along two thrust vector directions according to one or more embodiments of the present disclosure.

[0026] Figure 6 This is a simplified schematic diagram of a resupply device for a spacecraft servicing system according to one or more embodiments of the present disclosure.

[0027] Figures 7 to 10 Various embodiments of a spacecraft servicing apparatus according to one or more embodiments of the present disclosure are shown, the spacecraft servicing apparatus including a plurality of pods coupled to the spacecraft servicing apparatus. Detailed Implementation

[0028] The illustrations presented herein are not intended to be actual views of any particular device, component, system, or part thereof, but are merely idealized representations for describing illustrative embodiments. The figures are not necessarily drawn to scale.

[0029] As used herein, the term "basically" means, and to the extent that a person skilled in the art will understand, that a given parameter, performance, or condition satisfies, for example, a small degree of variance within acceptable manufacturing tolerances. For example, a basically satisfied parameter may be satisfied by at least about 90%, at least about 95%, or even at least about 99%.

[0030] Embodiments of this disclosure generally relate to spacecraft servicing devices for providing life-extending services to spacecraft (e.g., satellites or other launch vehicles) (otherwise referred to as "clients"). Spacecraft servicing systems, components, or devices (e.g., spacecraft, launch vehicles) may include one or more deployable spacecraft servicing devices, pods, or modules (e.g., mission extension pods (MEPs)) initially attached to a spacecraft servicing device (e.g., a MEP mothership (MEPM) or a mission robotic vehicle (MRV)). The spacecraft servicing device can transfer pods to / from a client spacecraft. Spacecraft servicing resupply devices can provide additional pods to the spacecraft servicing device.

[0031] Pods (e.g., five, six, ten, fifteen, or more pods provided by a mothership) can be deployed to a target spacecraft (e.g., they can be deployed individually and / or attached to the spacecraft) to provide life extension services, including, for example, component repair, refueling, orbital ascent or other modifications (e.g., deorbiting), repositioning, tilt pull-down, position holding, momentum balancing, momentum adjustment, supply replenishment, provision of new supplies or components, and / or other maintenance. In some embodiments, pods can be used to adjust the spacecraft's velocity, position, and / or orbit, including position holding, tilt pull-down, orbital repositioning, and disposal. In some embodiments, pods can be used to manage momentum and provide attitude control for the spacecraft. In some embodiments, pods can supply replacement or additional components. For example, the pod may be equipped with components (e.g., flight control components, avionics components (e.g., reaction wheels), motor components, communication components, power system components, sensor components, optical components, thermal control components, telemetry components, combinations thereof, etc.) that can be used to replace failed parts, supplement existing parts, and / or add parts to the spacecraft, as well as selected functions and features. As a further example, the pod may include telemetry features, such as optical devices that measure the position of celestial bodies, for example, using phototubes or cameras (e.g., star trackers). One or more such devices may be supplied to the pod to monitor and / or modify the spacecraft's trajectories (e.g., attitude).

[0032] In some embodiments, a spacecraft servicing device may use a robotic spacecraft servicing device (e.g., one or more robotic arms capable of achieving one or more degrees of freedom via one or more end effectors for various tasks) to deploy and attach one or more pods to the spacecraft requiring servicing for on-orbit satellite servicing. For example, the spacecraft servicing device may deploy and attach one or more pods to a portion of the spacecraft (e.g., a separation ring, engine, external attachment, or any other suitable mechanical attachment or coupling structure). In some embodiments, the spacecraft servicing device itself may perform some servicing tasks before, during, and / or after the pods are deployed to the spacecraft.

[0033] Spacecraft servicing devices travel between spacecraft in space and can attach mission extension pods to spacecraft requiring servicing. In some embodiments, the spacecraft servicing device can attach a pod to a spacecraft and remain attached for servicing. For example, the pod may be permanently attached to the spacecraft and essentially become another component of the spacecraft, which may or may not communicate with the spacecraft's existing systems. In such embodiments, the pod may be configured to provide service for a selected amount of time (e.g., for short-term and / or long-term service, such as within minutes, weeks, months, years, or a combination thereof). In some embodiments, the spacecraft servicing device or another similar device may remove, replenish (e.g., refuel) and / or replace the pod after the selected amount of service. For example, a part of the servicing system (e.g., the spacecraft servicing device or another part, such as the resupply device discussed below) may re-access the pod to resupply (e.g., refill, replenish, supplement, etc.) one or more consumables (e.g., fuel, gas, parts, etc.). In some embodiments, the spacecraft servicing unit may attach an auxiliary device (e.g., a container) having such consumables to the pod. In some embodiments, the spacecraft servicing unit may detach the pod from the spacecraft, replenish and / or refurbish the pod to reinstall (e.g., reuse the pod) the pod on the same or another spacecraft.

[0034] Once the pod is attached to the spacecraft, it can be activated and provide, for example, orbit maintenance by changing velocity (e.g., by providing ΔV), including, for example, changing the spacecraft's orientation (e.g., by changing the spacecraft's orbit, position, or other orientation). By providing velocity changes to the total mass of the spacecraft and the mission extension pod at the correct time and direction, for example by substitution (e.g., completely replacing the spacecraft's propulsion functions, or by reducing the spacecraft's fuel consumption rate required to maintain the desired velocity, position, and orbit), the mission extension pod can extend the spacecraft's on-orbit life. The mission extension pod can provide such velocity changes to the spacecraft based on a schedule obtained from spacecraft-related data. In some embodiments, the data required for the scheduling schedule can be pre-programmed into the mission extension pod. In some embodiments, such a schedule and other data can be sent to the mission extension pod after it has been launched and / or attached to the spacecraft. In some embodiments, the pod can be configured to provide thrust (e.g., relatively low-amplitude thrust) to the spacecraft without interacting with other systems or properties of the spacecraft. In some embodiments, the pod can be configured to provide torque around the spacecraft, enabling the spacecraft to adjust its momentum. In other embodiments, the pod may provide other services (e.g., as discussed herein) and / or may communicate at least partially with one or more systems or subsystems of the spacecraft.

[0035] In some embodiments, the satellite servicing system can be configured to supply or resupply pods to the spacecraft servicing facility via a Mission Extension Pod Supply or Resupply (MEPR) once the supply of multiple pods on the spacecraft servicing facility has been reduced or exhausted. For example, once the supply of mission extension pods is reduced or exhausted, the spacecraft servicing facility can acquire the supply of new pods (e.g., five, six, ten, fifteen, or more pods) to continue providing lifetime extension services to potential spacecraft.

[0036] A mission extension pod resupply device (e.g., a spacecraft) can carry multiple (e.g., two, three, four, five, or more pods) to rendezvous with a spacecraft service device and supply the pods to that device. For example, a pod resupply device with mission extension pods can be positioned in geostationary orbit (GEO) or other orbits while the spacecraft service device rendezvous with it. Once the spacecraft service device approaches the mission extension pod resupply device, one or more devices on the spacecraft service device and / or the pod resupply device (e.g., a robotic arm of the spacecraft service device) can reposition the mission extension pods from the mission extension pod resupply device to the spacecraft service device. In other embodiments, the pod resupply device can be configured to travel to the spacecraft service device. In other embodiments, one or more devices on the pod resupply device can be configured to supply pods to the spacecraft service device or the pod resupply device, and the spacecraft service device can be configured to be coupled together or otherwise placed in physical communication to transfer one or more pods.

[0037] In some embodiments, the mission extension pod resupply unit can provide additional supplies or services to a spacecraft servicing unit. For example, the pod resupply unit can provide additional propellant to a spacecraft servicing unit that is operated as needed. In some embodiments, the pod resupply unit can transfer propellant to a spacecraft servicing unit via a refueling operation and / or by transferring a propellant-loaded tank from the resupply unit to the servicing unit (e.g., by means of one or more robotic arms on one or more of the spacecraft servicing unit and the resupply unit).

[0038] In some embodiments, for example, one or more of the spacecraft servicing devices and spacecraft for mission extension pod delivery may be performed by and / or include the EELV Second Stage Payload Adapter (ESPA or ESA Ring) class spacecraft, such as those known as ESAStar developed by Northrup Grumman of Fallschough, Virginia, or any other suitable type of device, spacecraft, or launch vehicle that would be able to be present in a suitable geosynchronous orbit or other orbit.

[0039] In some embodiments, one or more devices or components of a satellite servicing system may be disposed of, for example, by transporting them from a selected geostationary orbit to a geostationary discard orbit (e.g., for spacecraft servicing devices and / or mission extension pod resupply devices) or by abandoning them in their proper location on the spacecraft (e.g., for mission extension pods).

[0040] Figure 1A A simplified schematic diagram of a spacecraft servicing system 10 is shown, wherein at least a portion of the spacecraft servicing system 10 can be operated to approach, capture, dock, and / or service an apparatus (e.g., another launch vehicle or spacecraft 20). However, in some embodiments, the spacecraft servicing apparatus 100 may be configured to approach spacecraft 20 and transfer one or more modules or pods 102 (e.g., mission extension pod 102) to spacecraft 20, as discussed in more detail below.

[0041] Such a spacecraft 20 can be in low Earth orbit, medium Earth orbit, geostationary orbit, beyond geostationary orbit, or in another orbit around an object such as Earth. Spacecraft 20 may include components, such as engines, separation rings, and any other types of features known and / or implemented in the field of spacecraft (e.g., propulsion devices or systems 22, fuel tanks, etc.), which can be used to provide for mechanically coupling pod 102 to spacecraft 20. For example, the engine may be a liquid apogee engine, a solid fuel motor, a thruster, or other type of engine or motor. The engine may be positioned on the zenith deck of spacecraft 20, which is the deck in which the spacecraft is substantially positioned relative to Earth when orbiting the Earth.

[0042] like Figure 1A As shown, the spacecraft servicing unit 100 may be a separate spacecraft designed to approach and serve spacecraft 20. The spacecraft servicing unit 100 may facilitate services to spacecraft 20, including station holding, orbital ascent, momentum adjustment (e.g., unloading momentum around one or more axes), attitude control, repositioning, deorbiting, refueling, repair, tilt pull-down, or other services that can be provided in orbit. The spacecraft servicing unit 100 includes one or more deployable pods or modules 102 initially attached to the spacecraft servicing unit 100. Pods 102 may be positioned to spacecraft 20 (e.g., may be deployed and / or attached to the spacecraft) and may include service components 103 (e.g., shown only in one example of pod 102 for clarity) to provide services (e.g., providing life-extending services to spacecraft 20), including, for example, component repair, replacement and / or addition, refueling, orbital ascent, station holding, momentum balancing, supply replenishment, provision of new supplies, and / or other maintenance.

[0043] like Figure 1A As shown, at least one pod can be provided from the spacecraft service unit 100 and connected to the spacecraft 20 (e.g., near or along an axis extending through the spacecraft's center of mass) to provide such service.

[0044] In some embodiments, the spacecraft servicing system 10 may include a mission extension pod supply or resupply device 30, configured to supply or resupply pods 102 to the spacecraft servicing device 100, for example, once the supply of multiple pods 102 on the spacecraft servicing device 100 has been reduced or depleted. For example, once the supply of mission extension pods 102 is reduced or depleted, the spacecraft servicing device 100 may acquire a new supply of pods 102 (e.g., five pods, ten pods, fifteen pods, or more) to continue providing life-extending services to potential spacecraft 20. In some embodiments, the pod resupply device 30 with mission extension pods 102 may be placed in geosynchronous orbit (GEO) while the spacecraft servicing device 100 rendezvouses to its location. Once the spacecraft servicing device 100 approaches the mission extension pod resupply device 30, one or more devices on one or both of the spacecraft servicing device 100 and the pod resupply device 30 (e.g., a robotic arm on the spacecraft servicing device 100, discussed below) can reposition one or more mission extension pods 102 from the mission extension pod resupply device 30 back to the spacecraft servicing device 100. In some embodiments, one of the pod resupply device 30 and the spacecraft servicing device 100 may be configured to hold the other so that the mission extension pod 102 can be repositioned. For example, the spacecraft servicing device 100 may approach and dock with or otherwise engage with the resupply device 30. Once docked, the spacecraft servicing device 100 may transfer one or more pods 102 (e.g., using a robotic arm) from the resupply device 30 to the spacecraft servicing device 100. The spacecraft servicing device 100 may then undock and deploy more pods to other devices. In other embodiments, the pod resupply device 30 may be configured to travel to the spacecraft service device 100. In other embodiments, one or more devices (e.g., robotic arms) on the pod resupply device 30 may be configured to supply the pod 102 to the spacecraft service device 100.

[0045] In order to position the pod 102 on the target spacecraft 20, the spacecraft service unit 100 can position and store the pod 102 in one or more mechanisms 122. Figure 2AWithin the scope of operation, the one or more mechanisms 122 are configured to position the pod, move the pod, and / or install the pod. As described below, the mechanism may include one or more robotic arms 122 and / or another type of deployment device (e.g., a coupling mechanism), such as an extendable and / or expandable boom, similar to deployment device 160 discussed below, configured to secure the spacecraft servicing device 100 to the pod 102, as described below. In some embodiments, the one or more robotic arms 122 may include one or more degrees of freedom, enabling the arms 122 to move along one or more axes of motion. For example, in some embodiments, the arms 122 may include an extendable boom (e.g., similar to deployment device 160 discussed below) capable of translation along one axis of motion or include means capable of rotation and / or translation along one or more axes of motion. If the first single mechanism (e.g., an arm) is insufficient to work, a second mechanism (e.g., a second arm or other device capable of moving or reorienting the pod 102) may optionally be implemented to move the pod 102 into the working range of the first mechanism for mounting the pod 102 onto the target spacecraft 20.

[0046] For example, the pod 102 can be positioned on or within the structure of the spacecraft servicing unit 100 within the working range of one or more robotic arms. If a single arm is insufficient, an optional second arm or other device can be used to move the pod 102 into the working range of another robotic arm used to mount the pod 102 onto the target spacecraft 20.

[0047] In some embodiments, the pod 102 may be positioned on one or more detachable structures within the working range of one or more robotic arms. Once the pod 102 is depleted (e.g., completely depleted), the detachable structure may be detached from the spacecraft servicing unit 100. In such embodiments, the fuel consumption of the spacecraft servicing unit 100 may be reduced for subsequent rendezvous and servicing activities.

[0048] In some embodiments, the pod 102 may be carried on another device (e.g., the pod resupply device 30 launched with the spacecraft servicing device 100), and then transferred to the spacecraft servicing device 100 after launch. For example, the spacecraft servicing device 100 may be used to tow the pod resupply device 30 to geostationary orbit or other orbits, and then the launch vehicle may separate. The spacecraft servicing device 100 may use a docking mechanism on the spacecraft servicing device 100 and complementary structures or one or more devices on the pod resupply device 30 to dock with the pod resupply device 30. Once docked, one or more robotic arms on the spacecraft servicing device 100 may transfer one or more pods 102 from the pod resupply device 30 to a storage location on the spacecraft servicing device 100. In this way, the total mass of the spacecraft servicing device 100 is minimized for repeated transports and rendezvous with the target spacecraft 20, resulting in minimal fuel consumption throughout the mission's lifecycle. The pod resupply device 30 can be cooperatively controlled to place it in a desired orbital position for use in the return and resupply of the spacecraft servicing device 100 to the pod 102.

[0049] As described above, a portion of system 10 (e.g., pod 102, spacecraft servicing unit 100, and / or resupply unit 30) may be coupled to another portion of system 10 or connected to an external device (e.g., pod 102, spacecraft servicing unit 100, and / or spacecraft 20) to supply (e.g., refill, replenish, supplement, etc.) one or more consumables (e.g., fuel, natural gas, parts, etc.) to that device. In some embodiments, such supplies may be supplied in an additional external container attached to the device and / or may be supplied using existing components by replacement (e.g., refueling).

[0050] Spacecraft typically use propellants (e.g., xenon, hydrazine) to maintain positioning and orientation throughout their mission life. Depletion of this propellant typically leads to mission termination. In some embodiments, the spacecraft servicing unit 100, pod 102, and / or resupply unit 30 (“fuel supply unit”) may provide additional propellant to another part of system 10 or to external devices (e.g., pod 102, spacecraft servicing unit 100, and / or spacecraft 20 (“target device”)). In other embodiments, the fuel supply unit may function as a tank for supplying other fuels or fluids, such as high-pressure xenon, hydrazine, helium, nitrogen tetroxide (NTO), green propellants, combinations thereof, or any other suitable fuel. In some embodiments, the selection of propellant or fuel may be based on the application of pod 102 (e.g., based on the configuration of spacecraft 20).

[0051] Figure 1B It can be shown that in system 10 ( Figure 1A An embodiment of this fuel tank supply device 140 is a fuel supply device implemented on one or more devices. For example... Figure 1B As shown, in some embodiments, a conduit 142 on the fuel tank supply device 140 can supply fuel (e.g., high-pressure xenon) from the tank 141 to a regulator 143 (e.g., a mechanical and / or electrical regulator). The regulator 143 can control (e.g., reduce) the pressure to a level usable by the target device's system. An additional conduit 144 can be positioned downstream of the regulator 143 and can be connected to a mating adapter 145. The mating adapter 145 can be connected to a connector (e.g., a service port valve) of the target device in fuel communication with the target device. In some embodiments, such a mating adapter 145 of the fuel supply device can include a connection fitting (e.g., a quick-disconnect fitting, a cooperative service valve, and / or a simple mechanical service valve) for tank connection with the target device. For example, such a mating adapter 145 can include a valve (e.g., a rotary valve or nut) for opening and closing the flow path. The mating adapter 145 can include a connecting member (e.g., a female connecting member) that can be attached to a connector (e.g., a valve port) of the target device (e.g., a complementary male connecting member).

[0052] In some embodiments, the mating adapter 145 can be prepared by removing a cap or plug, and the target device can be prepared by removing any structure (e.g., blanket and / or cap or plug) from the connection to the target device. Once prepared, the mating adapter 145 is mechanically attached to the service valve of the target device, and one or more valves (e.g., on the target device and the fuel tank supply device 140) can be opened and pressure is monitored (e.g., pressure detection in the system of the target device). A decrease in pressure can indicate an incorrect mating between the adapter of the fuel tank supply device 140 and the mating adapter 145 of the fuel tank supply device 140. Once the connection has been verified, the valve upstream of the mating adapter 145 can be moved to the open position, and the fuel tank 141 will supply fuel to the fuel tank of the target device. In embodiments where there is no pressure telemetry for the tank 141 of the fuel tank supply device 140, the system of the target device can be used to monitor fuel usage to determine whether the tank 141 of the fuel tank supply device 140 has reached depletion. As the tank 141 of the fuel supply device 140 nears depletion, the tank 141 can be removed from the communication by closing the valve upstream of the mating adapter 145, and the target device and the new tank can be connected to the target device (e.g., by replacing the previous tank on the same fuel supply device 140 or on a different fuel supply device that allows the previous tank to remain connected). Such a fuel supply device 140 may include a service valve 146 for initial system pressurization, mechanical supports for mounting and attaching to the target device, gripping attachments, and / or passive thermal control.

[0053] Figure 2A The spacecraft service device 100 is shown (e.g., Figure 1A A simplified schematic diagram of an embodiment of the spacecraft service device 100. Figure 2A As shown, the spacecraft servicing device 100 includes one or more deployable pods or modules 102 that are initially attached to the spacecraft servicing device 100. The spacecraft servicing device 100 may be a satellite or other spacecraft in orbit around an object.

[0054] To deliver, attach, and / or retrieve the pod 102 to another spacecraft, the spacecraft servicing unit 100 may include a chemical or other type of reactive engine and / or may include an electric propulsion system. For example, the spacecraft servicing unit 100 may include one or more thrusters 104, a power system including a chemical and / or electric propulsion source (e.g., a fuel tank 106 housing xenon propellant and / or hydrazine propellant for ion thrusters), and a power handling unit 108. The propulsion system of the spacecraft servicing unit 100 (e.g., including thrusters 104) enables the spacecraft servicing unit 100 to move along one or more axes of motion (e.g., three translational axes and three rotational axes for a total of six axes of motion). The spacecraft servicing unit 100 may include a solar cell array 110 (e.g., an oriented solar cell array), a battery 112, power regulation electronics (e.g., a power distribution assembly 114), a control subsystem 116 (e.g., command and data processing, thermal control, guidance, navigation, and control), a communication subsystem 118 (e.g., radio frequency (RF) communication with an associated antenna 120), and accessory tools 121 (e.g., servicing parts and / or end effectors for one or more robotic arms discussed below). Such components enable the spacecraft servicing unit 100 to be maneuvered to a location close to another spacecraft to be serviced.

[0055] To deploy, attach, and / or retrieve pod 102 to another spacecraft, spacecraft servicing unit 100 may include deployment and / or removal devices (e.g., one or more movable arms, such as a robotic arm 122 with one, two, three, four, five, or six degrees of freedom), long poles, and / or extendable deployment devices, as discussed below, which may be coupled to a portion of pod 102 (e.g., the internal portion of an engine) via associated imaging systems (e.g., camera 124) and control and power systems (e.g., robotic avionics 126 and power supply 128). Such devices and components may be used for engagement with pod 102 on spacecraft servicing unit 100 (e.g., such devices and components may be used for attachment to pod 102 on spacecraft servicing unit 100). For example, one or more of the robotic arms 122 can be used to attach to a pod 102 (e.g., by means of an end effector) and move the pod 102 to the vicinity of the target spacecraft to attach the pod 102 to the spacecraft and release the pod 102 after attachment.

[0056] In some embodiments, other means and methods may be used to deliver and / or attach the pod 102 to the spacecraft. For example, the spacecraft servicing device 100 itself may be oriented relative to the spacecraft to position the selected pod 102 in contact with the spacecraft; the spacecraft servicing device 100 itself may capture or otherwise hold the spacecraft while applying the pod 102; the pod 102 may include one or more onboard systems for controlling and attaching the pod 102; and the spacecraft servicing device 100 may include a reusable and individually controllable unit having a propulsion unit controller configured to deliver the pod 102 or a combination thereof.

[0057] In some embodiments, the spacecraft servicing device 100 can deliver, attach, and / or retrieve the pod 102 without using a robotic arm. For example, when attaching one or more pods 102, the spacecraft servicing device 100 can rendezvous with a target spacecraft (e.g., using sensors to detect the position and / or orientation of the target spacecraft, such as those discussed below). While the pod 102 is attached to the spacecraft servicing device 100, the docking mechanism of the pod 102 (also discussed below) can be deployed and engaged with the target spacecraft. The pod 102 can be released from the spacecraft servicing device 100, and any remaining docking procedures can be completed before, during, and / or after release to secure the pod 102 to the target spacecraft.

[0058] Regardless of the specific mechanisms or features used for deploying, attaching, and / or retrieving the pod 102, the spacecraft servicing device 100 can be configured to deliver the pod 102 directly (e.g., via mechanisms and / or features) to a location on a target spacecraft using one or more portions of the spacecraft servicing device 100. For example, the spacecraft servicing device 100 may deploy, attach, and / or retrieve the pod 102 using only deployment mechanisms and / or features (e.g., one or more robotic arms 122, extendable and / or expandable docking mechanisms, etc.) that are hosted on the spacecraft servicing device 100 (e.g., a portion thereof). In some embodiments, deployment mechanisms and / or features that are hosted only on the spacecraft servicing device 100 are used without utilizing any manipulation (e.g., propulsion) devices on the pod 102. For example, the pod 102 may be dispatched directly by the spacecraft servicing device 100, rather than being independently dispatched and / or manipulated to a location adjacent to the target spacecraft under its own power or propulsion. After being moved into the appropriate position, the mechanisms and / or features of the spacecraft servicing device 100 (e.g., one or more robotic arms 122, extendable and / or expandable docking mechanisms) and / or features of the pod 102 (e.g., coupling mechanisms such as deployment device 160) can be used to secure the pod 102 to the target spacecraft. In some embodiments, the pod 102 can be secured to the target spacecraft while maintaining at least partial contact with the spacecraft servicing device 100. For example, once the pod 102 is at least partially in contact with the target spacecraft (e.g., secured to the target spacecraft), the pod 102 can be released from the spacecraft servicing device 100.

[0059] In some embodiments, the spacecraft servicing device 100 includes sensor components, such as rendezvous and proximity operations 130 (e.g., light detection and ranging 132, infrared sensor 134, and / or visible light sensor 136). Such components enable the spacecraft servicing device 100 to monitor and / or detect other objects (e.g., pod 102, other spacecraft performing servicing-related functions). For example, one or more of the sensors (e.g., light detection and ranging 132, infrared sensor 134, and / or visible light sensor 136) enable the spacecraft servicing device 100 to facilitate rendezvous and proximity operations relative to the target spacecraft 20. Figure 1A ), so as to deploy, install and / or remove pod 102 ( Figure 1A ).

[0060] In some embodiments, one or more of the sensors (e.g., light detection and ranging 132, infrared sensor 134, and / or visible light sensor 136) enable the spacecraft servicing device 100 to detect one or more features of the target spacecraft 20. Figure 1AFor example, one or more of the sensors in the spacecraft service device 100 can detect docking features (e.g., docking, berthing, or coupling mechanisms) or other features (e.g., structural features) of the target spacecraft 20 in order to determine how the pod 102 should be attached to the target spacecraft 20.

[0061] In some embodiments, the spacecraft servicing device 100 may be at least partially reconfigurable to facilitate operations performed by the spacecraft servicing device 100. For example, in conjunction with spacecraft 20 ( Figure 1A During docking (e.g., berthing), the device 100 can reposition (e.g., load, unload) various structures and / or components (e.g., struts for docking with spacecraft 20). Such structures and / or components can be detached using one or more tools (e.g., robotic arm 122) and placed in a temporary storage location. These structures and / or components can be attached when the spacecraft servicing device 100 docks (e.g., and services) the target spacecraft 20.

[0062] In some embodiments, features on the spacecraft servicing device 100 can be used to reconfigure other devices (e.g., spacecraft). For example, one or more tools (e.g., robotic arm 122) of the spacecraft servicing device 100 can be used to remove structures that facilitate the stacking of secondary payloads on top of the spacecraft servicing device 100 after launch. In some embodiments, the spacecraft servicing device 100 (e.g., and the attached pod 102) Figure 1A The pod 102 can be attached to the ESPA ring or some other suitable structure. After launch (e.g., in orbit), the robotic arm 122 can disassemble the pod 102 and reposition it to a storage location, and then disassemble the accessory structures used during launch disposal or temporary storage.

[0063] Figure 2B A simplified schematic diagram of an embodiment of a spacecraft service device 150 is shown, which can be connected with... Figure 2A The spacecraft service device 100 is substantially similar to the spacecraft service device 150, and as shown in the figure, the spacecraft service device 150 may include some, most, or all of the components of the spacecraft service device 100. For example... Figure 2B As shown, the spacecraft service unit 150 includes a coupling mechanism 152 (e.g., a docking, mooring, holding or otherwise attaching mechanism) for coupling to other devices (e.g., other spacecraft, such as spacecraft 20, pod 102, resupply unit 30, etc.).

[0064] As described above, once the spacecraft service unit 100 is in orbit with the initial supply pod 102, the spacecraft service unit 100 is transferred from the target spacecraft 20 ( Figure 1A The spacecraft servicing device 100 travels to the target spacecraft 20 to install the pod 102. In some embodiments, the spacecraft servicing device 100 may employ additional control techniques to maintain an optimal position relative to the spacecraft 20 to allow for the installation of the pod 102 (e.g., robotic installation). This optimal position may be centered or not centered on the spacecraft 20 and may be set back a selected distance from the spacecraft 20, allowing the pod 102 and robotic arm 122 space to move onto the spacecraft. Data from the rendezvous sensors may be transmitted to the robot control computer on the spacecraft servicing device 100, allowing the machine vision and robot motion control algorithms to have prior knowledge of the relative positions and movements of the two spacecraft.

[0065] Figures 2C to 2K Various embodiments of the coupling mechanism according to one or more embodiments of the present disclosure are shown. Figure 2C and Figure 2D As shown, the coupling mechanism 152 may include an expandable docking mechanism 160 (e.g., having a spear shape) configured to be received in at least one receiving portion (e.g., engine 156) of the spacecraft 20 (e.g., a portion of the engine or any other portion that may form a mechanical connection). While the spacecraft servicing device 100 is held in this position relative to the spacecraft 20, the expandable docking mechanism 160 connects to the spacecraft servicing device 100 (… Figure 2A Alternatively, it can be fully guided into the appropriate position by having a robotic arm guide the final docking. Once in the appropriate position, one or more expandable sections can be deployed and contact the receiving section 156 to secure the expandable docking mechanism 160 to the spacecraft 20.

[0066] Such an expandable docking mechanism 160 is disclosed, for example, in U.S. Patent Application Serial No. 15,829,807, filed December 1, 2017, entitled “SYSTEMS FOR CAPTURING A CLIENTVEHICLE,” the entire disclosure of which is hereby incorporated by reference. For example, the expandable docking mechanism 160 can be inserted into the engine 156 of spacecraft 20, such as... Figure 2C As shown. Once inserted into the engine 156, one or more portions of the expandable docking mechanism 160 can move (e.g., expand, extend) to contact the engine 156 and secure the expandable docking mechanism 160 to the engine 156, thereby securing the pod 102 (FIG. 1) to the spacecraft 20. Before, after, and / or during securing, the expandable docking mechanism 160 may include an extension arm that is retracted to position the pod 102 (FIG. 1) closer to the spacecraft 20.

[0067] like Figure 2E and Figure 2F As shown, the coupling mechanism 152 may include an expandable and / or retractable docking mechanism 162 (e.g., having a chuck shape) configured to engage with the receiving portion 156 of the spacecraft 20. The docking mechanism 162 can be guided into position in a manner similar to that described above. Once in position, the docking mechanism 162 can be retracted or expanded to secure the expandable docking mechanism 162 to the spacecraft 20.

[0068] like Figure 2G and Figure 2H As shown, the coupling mechanism 152 may include a snare docking mechanism 164 (e.g., including multiple wires, such as braided metal wires, positioned at an opening in the cavity). The docking mechanism 162 may be guided into position in a manner similar to that described above. The snare docking mechanism 164 is configured to engage with the receiving portion 156 of the spacecraft 20 by allowing the receiving portion 156 to enter through an opening in the wires. Once in position, the snare docking mechanism 164 may move (e.g., rotate) such that the wires at least partially restrict the opening defined by the wires to secure the snare docking mechanism 164 to the spacecraft 20.

[0069] like Figure 2I and Figure 2J As shown, the coupling mechanism 152 may include a clamping docking mechanism 166 (e.g., a three-point clamping mechanism including a movable member and two fixed members), configured to engage with the receiving portion 156 of the spacecraft 20. The docking mechanism 166 may be guided into position in a manner similar to that described above. Once in position, one or more movable members of the docking mechanism 166 may move toward one or more fixed members to secure the expandable docking mechanism 166 to the spacecraft 20.

[0070] like Figure 2K As shown, the coupling mechanism 152 may include an inflatable clamping docking mechanism 168 (e.g., one or more inflatable bags configured to be received on the outer and / or inner portions of the receiving portion 156), the inflatable clamping docking mechanism 168 being configured to engage with the receiving portion 156 of the spacecraft 20. The docking mechanism 166 may be guided into position in a manner similar to that described above. Once in position, one or more inflatable bags (e.g., annular bags) may be inflated to secure the expandable docking mechanism 168 to the spacecraft 20. In some embodiments, the bags may be filled with a fluid (e.g., a liquid) that will at least partially solidify to form a at least partially rigid connection between the structures.

[0071] Figure 2LThis is a perspective view of a spacecraft service unit 180, which may be similar to those discussed above. As shown, the spacecraft service unit 180 may include a body 182, which includes an ESPA ring having pods 102 connected around the body 182. Each pod 102 may include features for connection with a target spacecraft 20 (…). Figure 1A The coupling mechanism 184 connects to the optional solar cell array 186. As described above, the coupling mechanism 184 may include a spear-shaped extendable device configured to engage with the engine of the target spacecraft 20.

[0072] Reference Figure 1A In some additional embodiments, structural portions of pod 102 (e.g., struts or other frame members) may be used for docking with spacecraft 20. For example, a robotic arm or other feature (e.g., a non-robotic method) will first position pod 102 in a predetermined location based on the geometry and features of spacecraft 20 and its components (e.g., separation rings). Spacecraft servicing device 100 may then dock with spacecraft 20 using structural portions of pod 102. Once docking is complete, structural portions of pod 102 may be secured to spacecraft 20 (e.g., by actuating grippers or otherwise securing the connection via electronic commands through a robot interface or via electromechanical drive power from a robot interface). A portion of spacecraft servicing device 100 (e.g., a robotic arm) may then release pod 102, and spacecraft servicing device 100 may detach from spacecraft 20, remaining behind pod 102 mounted on spacecraft 20 (e.g., on the separation ring).

[0073] In some additional embodiments, a portion of the spacecraft servicing device 100 (e.g., a robotic arm) can extend and place the pod 102 onto a portion of the spacecraft (e.g., a separation ring or other compatible mechanical feature of spacecraft 20). Electronic commands to either the pod 102 or spacecraft 20 can then be used to actuate a coupling mechanism or electromechanical actuator on either device to secure the pod 102 in the appropriate position on spacecraft 20.

[0074] Reference Figure 2AWhen using a robotic arm to place the pod 102, the robotic arm 112, end effector, and / or other tools can employ techniques related to the docking mechanism 166 that minimize the zero-gravity contact dynamics between the two vehicles. Such techniques include, but are not limited to, minimizing friction at the contact interface, minimizing the time between the first contact and rigidification (e.g., completing docking or other connections), and providing compliance along the path. In some embodiments, passive and active first-contact electrostatic discharge (ESD) mitigation techniques can be employed in the design of the pod 102, robotic arm 112, spacecraft servicing device 100, and resupply device 30 to ensure that first-contact ESD is minimized or eliminated. For example, such ESD mitigation technology is disclosed in U.S. Patent Application Serial No. 15 / 829,758, filed on December 1, 2017, entitled “ELECTROSTATIC DISCHARGE MITIGATION FOR A FIRST SPACECRAFT OPERATING IN PROXIMITY TO A SECOND SPACECRAFT”, the entire disclosure of which is hereby incorporated by reference.

[0075] Reference Figure 1A It is desirable to have the shortest possible connection between the spacecraft service unit 100 and the spacecraft 20 when the pod 102 is installed on the spacecraft 20. In some embodiments, during the installation of the pod 102, both the spacecraft 20 and the spacecraft service unit 100 may drift freely together for only a short period of time (e.g., a few seconds to a few minutes) during which the installation of the pod 102 is established and the spacecraft service unit 100 releases the pod 102 to disconnect the mechanical connection between the two launch vehicles. The propulsion system of the spacecraft service unit 100 can then be reactivated, and the spacecraft service unit 100 can retreat to a safe position. Shortly thereafter, the attitude control system of the spacecraft 20 can be reactivated, allowing the target spacecraft 20 to regain its position.

[0076] Reference Figure 1A and Figure 2A In some embodiments, after installation, pod 102 may be activated, for example by means of a timer or sensor (e.g., a disconnection timer or similar sensor), via ground commands to the transceiver in pod 102, or electrical commands from robotic arm 112, enabling pod 102 to sense that it is no longer connected to any of the spacecraft servicing unit 100, resupply unit 30, or robotic arm 122. In some embodiments, such a sensor may include one or more mechanical limit switches activated by completing docking or installation mechanical activities.

[0077] In some additional embodiments, the pod 102 can be activated via features incorporated into the interface between the spacecraft servicing unit 100 and the pod 102. For example, a portion of the deployment apparatus of the spacecraft servicing unit 100 (e.g., a tool drive mechanism or end effector on the robotic arm 122) can assist in activating and / or initially deploying attachments on the pod 102. This technique would potentially simplify the mechanism of the pod 102 by utilizing the functionality of the robotic arm 122 of the spacecraft servicing unit 100 (e.g., the end effector of arm 122) to perform deployment and activation of the pod 102 (e.g., a single actuation on the pod 102). The robotic arm 122 and / or its components and tools can perform at least partial on-orbit assembly of the pod 102. For example, using the robotic arm 122 to finally assemble attachments onto the pod 102 could allow for simplified, lighter, and / or lower-cost packaging of the pod 102 components for launch.

[0078] Figure 3 The pod of the spacecraft service unit 100 is shown (e.g., Figure 1A A simplified schematic diagram of an embodiment of the mission extension pod 102. Figure 3 As shown, the mission extension pod 102 includes one or more means for controlling the pod 102 and any other structures attached to the body 201 (e.g., orienting and moving the pod 102 and any other structures attached to the body 201). For example, the pod 102 may include a chemical or another type of reaction engine and / or may include an electric propulsion system. As shown, one or more thruster assemblies 200 may include one or more thrusters 202 (e.g., electric propulsion (EP) thrusters) attached (e.g., movably attached to) the pod 102 via movable (e.g., rotatable) couplings (e.g., gimbal 204 and boom 206). In some embodiments, the positioning of the thruster 202 relative to the body 201 may be selected based on one or more characteristics of the spacecraft to which the pod is to be attached (e.g., size, specifications, mass, center of mass, combinations thereof, etc.). In some embodiments, the thruster 202 can provide relatively low acceleration to minimize or avoid disturbances caused by the movement of propellant throughout the propellant tank.

[0079] Although Figure 3The embodiment shown depicts a single thruster assembly 200 on a single boom 206, but in other embodiments, the pod 102 may include multiple thruster assemblies (e.g., two, three, or more thruster assemblies and accompanying booms) on multiple booms. For example, two thruster assemblies may be mounted on two booms, one of which is a substantially mirror image of the other. Furthermore, in some embodiments, multiple thruster assemblies may be mounted on a single boom. In such embodiments, multiple thrusters may be implemented to ensure adequate lifetime throughput or achieve the desired thrust level. In some embodiments, one or more thruster assemblies 200 may be mounted directly on the pod 102 instead of on the boom. In some embodiments, a thruster assembly 200 may be used for life extension services, including spacecraft repositioning, station holding, tilt pull-down, momentum adjustment, and / or end-of-life (EOL) disposal. In some embodiments, multiple thruster assemblies 200 may each be used for all life extension services, or they may be divided for different life extension services. For example, one or more thruster assemblies 200 may be mounted on one or more booms for station holding services, while one or more thruster assemblies 200 may be mounted on pods for track repositioning, tilt pull-down, and end-of-life (EOL) disposal.

[0080] In some embodiments, the antenna 208 may be positioned on the thruster assembly 200. In some embodiments, the antenna 208 may be positioned on a separate deployable boom. In some embodiments, additional solar cells for generating electricity may be placed on the thruster boom assembly 200.

[0081] The pod 102 may include a power and propulsion system 210, which includes one or more power sources and associated components (e.g., at least a portion of the power system may be an electric propulsion system). For example, the power and propulsion system 210 may include one or more propellant tanks (e.g., containing xenon propellant or any other suitable propellant for electric or chemical propulsion systems), thrusters (e.g., electric thrusters), and associated power handling units. The pod 102 may include a solar cell array 212 and one or more batteries 214. In some embodiments, the solar cell array 212 may be rigidly coupled to the body 201 or to a movable (e.g., rotatable) connector (e.g., one or more universal joints 216 or other movable joints and a boom 218 providing movement about one, two, or more axes) having one or more axes of motion to guide the solar cell array 212 toward the sun.

[0082] In some embodiments, the gimbaled solar array 212 can provide many advantages over similar rigid arrays. For example, the gimbaled solar array 212 allows the solar array 212 to be removed from / spaced apart from the thrusters of the target spacecraft 20, enabling the target spacecraft 20 to perform orbital maintenance while minimizing concerns that the thrusters of the target spacecraft 20 may drift onto the solar array of the pod 102. The gimbaled solar array 212 also allows for thermal decoupling of the pod 102 from the target spacecraft 20 and improves the efficiency of the solar array 212 by enabling it to track the sun. The improved efficiency of the gimbaled solar array 212 allows the thrusters of the pod 102 to fire for longer periods and also allows for the use of smaller, lighter, and cheaper batteries. A propulsion system with longer fire times can facilitate servicing of the heavier target spacecraft 20. In some embodiments, the gimbaled solar array 212 can be articulated in a momentum-maintaining manner (e.g., without applying net momentum) as the target spacecraft 20 flies past its orbit.

[0083] In some embodiments, the solar array 212 can track the sun using logic stored on the pod 102 during the satellite's sunlit portion of service, in order to maximize the power generation of the solar array 212 and thereby minimize the size of the solar array 212 and the cells. In some embodiments, the movement of the solar array 212 can be restricted, for example, to simplify mechanical design and to eliminate or minimize shadows of the spacecraft array, impacts from thruster plumes from the pod 102 and / or the spacecraft 20, interference with sensors or antennas on the pod 102 and / or the spacecraft 20, or other system constraints. In some embodiments, the solar array 212 may include two separate wings having one or two axes of motion. In some embodiments, the gimbaled solar array 212 may include one axis of motion configured to counteract the rotation of the pod 102.

[0084] Embodiments of pod 102 can utilize low-power (e.g., electric) propulsion systems such as grid ion thrusters, Hall effect thrusters, colloidal / field effect thrusters, arc jets, and resistive jets in spacecraft launch vehicles 20 ( Figure 1AThis provides spacecraft servicing with a relatively small physical package and a light footprint. Such an electric propulsion system can generate the required amount of thrust for a selected period of time for one or more burns to orient the spacecraft 20 (e.g., two burns within a 24-hour period), with each thrust lasting for the selected period. In some embodiments, the pod 102 can be positioned on the zenith-facing (e.g., anti-Earth) side of the spacecraft and the pod 102's solar array 212 to receive unobstructed sunlight for at least twelve hours per day. In some embodiments, a first thruster burn can occur while the pod 102's solar array 212 is fully illuminated, and a second thruster burn can occur when the pod 102's solar array 212 is fully obstructed by the spacecraft body.

[0085] In some embodiments, each thruster burn within a 24-hour period may include a portion of a time during which the solar array 212 of the pod 102 is shaded by the body of the spacecraft 20. In some embodiments, each thruster burn may occur within a 24-hour period while the solar array 202 of the pod 102 is fully illuminated. A battery (e.g., battery 214 such as a lithium-ion battery) may be used to store energy during the periods when the pod 102 is exposed to sunlight, and the size of the battery 214 may be configured to support the bus power loss of the pod 102 and the thruster burn power during periods without sunlight. In some embodiments, thruster burn is performed using a chemical thruster.

[0086] In some embodiments, the propellant of the power and propulsion system 210 of the pod 102 may include a certain amount of propellant (e.g., approximately 25 kg, 50 kg, 100 kg, 150 kg or more) to support the spacecraft 20 for a selected period of time (e.g., at least several years). Figure 1A Position maintenance (e.g., for maneuvering and momentum adjustment requirements). Pod 102 can be loaded with propellant before launch, so that propellant transfer is not required once pod 102 is in orbit. Since spacecraft 20 needs to be repositioned to different orbital positions to extend its operational life or reach the end of its operational life, the propulsion schedule and position of pod 102 can be adjusted to deliver velocity variations along the orbital velocity direction of spacecraft 20 to move spacecraft 20 to different orbits, orbital positions, or combinations thereof for operational life extension or end-of-life disposal purposes.

[0087] In some embodiments, the fuel or propellant of pod 102 may be used to serve spacecraft 20 without relying on one or more systems of spacecraft 20. For example, the propellant of pod 102 alone may be used to serve spacecraft 20 (e.g., to manipulate and / or adjust at least one momentum of spacecraft 20, including attitude).

[0088] Reference Figure 1A and Figure 3 In some embodiments, the fuel tank of spacecraft 20 can be bypassed (e.g., not utilized) to serve spacecraft 20. For example, the propellant of pod 102 (e.g., in conjunction with...) Figure 1B In configurations similar to the one shown, propellant supplied from fuel tank 141 to pod 102, and propellant supplied from the propulsion system 210 of pod 102, can be supplied (e.g., directly) via fluid flow channels to a portion of the propellant system 22 of the target spacecraft 20 (e.g., bypassing the fuel tank of spacecraft 20 connected to those fluid flow channels). In such embodiments, the propellant of pod 102 can be used to servicing spacecraft 20 without transferring (e.g., replenishing) the propellant to the tank of spacecraft 20 (e.g., via a refueling procedure). For example, the propellant of pod 102 can be coupled (e.g., via coupling mechanism 152, mating adapter 145) Figure 1B This connection is fluidly coupled to a portion of the fuel system of spacecraft 20. In some embodiments, such an existing connection may exist on spacecraft 20. In some embodiments, one or more of spacecraft service units 100 and pods 102 may mount at least a portion of this connection on spacecraft 20.

[0089] The propellant from the pod 102 can be transferred to the propellant system 22 of the target spacecraft 20 and used, for example, by using one or more thrusters of the propellant system 22 to serve the spacecraft 20 (e.g., to manipulate and / or adjust at least one momentum of the spacecraft 20).

[0090] In some embodiments, the pod 102 may not have a propulsion device for moving the pod 102 independently.

[0091] In some embodiments, the pod 102 may have a relatively low total mass, for example, less than 700 kg (e.g., less than 600 kg, 500 kg, 400 kg, 350 kg, 300 kg or less).

[0092] In some embodiments, the pod 102 is configured to remain permanently on spacecraft 20 without being recovered or replaced. In some embodiments, the pod 102 can be detached from spacecraft 20 and used on different customer spacecraft. In some embodiments, the pod 102 can be detached from spacecraft 20, refueled by spacecraft servicing unit 100 or resupply unit 30, and reattached to spacecraft 20.

[0093] The pod 102 may include a power controller (e.g., a single circuit board of power controller 220) and a flight controller (e.g., a single circuit board of avionics controller 222) mounted on any suitable type and number of electronic devices.

[0094] Pod 102 may include a communications subsystem 224 (e.g., radio frequency (RF) communications in communication with antenna 208 and transceiver (XCVR)). The communications subsystem 224 of pod 102 may be designed to operate in conjunction with commercially available communications services under the requirement of periodic rather than continuous contact.

[0095] In some embodiments, the communication device of the pod 102 (e.g., communication subsystem 224) can receive communication signals with the target spacecraft 20. Figure 1A The data pertains to at least one of the orbits or velocities of the target spacecraft 20 (e.g., related to the momentum of the spacecraft 20). Such data can be transmitted from a location remote from the pod 102 or otherwise transferred (e.g., directly or indirectly via a ground station, satellite repeater, direct transmission, and / or electrical connection (e.g., directly from the target spacecraft 20)) to the pod 102. This data may include calculations related to combustion, and / or the systems of the pod 102 may perform combustion calculations based on this data. In some embodiments, telemetry data may be provided to the pod 102 directly or indirectly from the target spacecraft 20 via a ground station (e.g., via a radio frequency link). In some embodiments, telemetry data may be provided to the pod 102 directly or indirectly from one or more of the target spacecraft 20, the spacecraft servicing unit 100, or from a ground station.

[0096] In some embodiments, telemetry data can be updated at selected intervals in a closed-loop system, and subsequent combustion can be calculated based on the updated data.

[0097] In some embodiments, a predetermined combustion schedule may be provided to pod 102 or another part of system 10.

[0098] In some embodiments, pod 102 may not have any independent system for determining telemetry data (e.g., velocity, attitude, momentum, position, orbit, etc.) for pod 102 and / or target spacecraft 20, and may need to rely on external sources for such information (e.g., target spacecraft 20, ground station, service mothership 100).

[0099] Pod 102 can store telemetry data over a period of time (e.g., eight to twelve hours) and return that data to the communications network when polled on a selected schedule (e.g., two or three times a day). The total dataset can be relatively small, resulting in relatively short contact times, which provides a relatively low cost footprint for operating multiple pods 102 over multiple years. In some embodiments, pod 102 can be positioned on target spacecraft 20 ( Figure 1A On the non-Earth-facing side of the pod 102. To provide line of sight to ground station antennas and / or around-the-ground communication services, transceiver antenna 208 can be positioned on the same boom of the launch vehicle thruster assembly 200 to provide a clear line of sight. Considering the geosynchronous orbit range and low-power nature of the components of pod 102, along with the relatively moderate gain antenna 208, pod 102 can transmit and return data at relatively low data rates (e.g., less than 1 kb / s, less than a few kb / s). Therefore, pod 102 is able to receive a limited set of commands to adjust its propulsion schedule and boom pointing according to adjustments specified from Earth by the spacecraft operator of spacecraft 20.

[0100] In some embodiments, system 10 ( Figure 1AOne or more parts of the spacecraft 20 (e.g., pod 102) can utilize a flexible frequency transceiver, which enables pod 102 to communicate with a ground station associated with spacecraft 20. By using the flexible frequency transceiver and by using existing ground systems for spacecraft 20, pod 102 can establish command and telemetry links between pod 102 and the ground station for spacecraft 20 without requiring any additional regulatory approvals or third-party services. This allows the operator of spacecraft 20 to establish control (e.g., full control) over pod 102 with relatively minimal additional investment and with almost no necessary regulatory disclosures or approvals. Given that the market base for the target spacecraft 20 includes a relatively large number of spacecraft 20s utilizing C-band and Ku-band RF frequencies for communication, the launched pod 102 can be configured with a C-band or Ku-band transceiver. Pre-launch coordination can establish the ratio of pod 102 to C-band or Ku-band-based communication systems to be launched on initial capability or in resupply spacecraft. If the target spacecraft 20 does not utilize C-band or Ku-band communication, the pod 102 can be configured to implement a type of communication system substantially matching the type of the target spacecraft 20, or the C-band or Ku-band pod 102 can still be used with the target spacecraft 20, which has a different type of communication system. In some embodiments, the pod 102 can store its telemetry data for a selected time period (e.g., eight to twelve hours) and can return that data to the communication network when polled (e.g., twice or three times a day).

[0101] In some embodiments, since the frequency of the flexible frequency transceiver can be modified based on the target spacecraft 20 in orbit (e.g., by utilizing unused portions of one or more bands of the frequency used by the target spacecraft 20), the flexible frequency transceiver enables the pod 102 to be paired with various target spacecraft 20.

[0102] In some embodiments, the space-to-space command and telemetry link between the pod 102 and the spacecraft servicing unit 100 can be implemented to connect the pod 102 to the ground systems of the spacecraft 20 by utilizing the relatively high gain and power of the spacecraft servicing unit 100. In some embodiments, this technology can be employed while the spacecraft servicing unit 100 and the pod 102 are in very close proximity and / or can be implanted for long-term operation, wherein the pod 102 thruster burn schedule may only require occasional adjustments (e.g., adjustments performed weekly, monthly, or at longer intervals).

[0103] In some embodiments, the communication system of pod 102 may use a transceiver designed to utilize the close proximity of the antenna of pod 102 to the uplink antenna of spacecraft 20 to feed spread-spectrum telemetry signals from pod 102 into the uplink of spacecraft 20. This signal is then received by the communication system of spacecraft 20 with a high-gain boost to transmit telemetry from pod 102 to the ground.

[0104] The various communication systems disclosed herein in pod 102 enable near real-time monitoring of the functionality of pod 102 and the results obtained from pod 102, with only a time lag due to the speed of light from geosynchronous orbit to the ground. This configuration allows pod 102 to perform numerous functions (e.g., those described above) that can return performance data to a ground station. Software in the ground station and in the target spacecraft 20 or pod 102 can also be used to create a light-speed lag "closed loop," allowing data from pod 102 or the target spacecraft 20 to be delivered to software associated with the target spacecraft 20 or pod 102 for control of the target spacecraft 20. In some embodiments, pod 102 may not need to communicate directly with the spacecraft 20 receiving pod 102, but can communicate with the spacecraft 20 via a light-speed round-trip time lag through the ground station. In such embodiments, complex functional "closed loops" are possible, which can be provided as spacecraft services via pod 102. For example, this complex functionality may include the ability to manage the three momentum axes of spacecraft 20 using telemetry data from spacecraft 20, with the aid of gimbal control logic residing in ground software or pod software, and utilizing the thruster assembly 200 of pod 102.

[0105] In order to deploy and attach pod 102 to another spacecraft 20 ( Figure 1A On the pod 102, attachment features (e.g., coupling mechanism 226 configured for docking, berthing, attaching, holding, or a combination thereof to the target spacecraft 20) may be included, said attachment features being configured to attach to the spacecraft 20 and / or one or more of the spacecraft service unit 100. Figure 2A The connecting feature (e.g., gripping mechanism 228) engages with the feature portion (e.g., robotic arm 122). The connecting mechanism 226 can be movably mounted to the body 201 (e.g., by means of a universal joint 230).

[0106] In some embodiments, the thruster assembly 200 of the pod 102 may be positioned on a multi-axis actuator system (e.g., defined by a plurality of universal joints and / or other translational or rotational means). For example, universal joint 204 may be configured to move the thruster assembly 200 along a first axial direction, and universal joint 205 may be configured to move the thruster assembly 200 along a second axial direction transverse to the first axial direction. In some embodiments, universal joints 204 and 205 may be juxtaposed at the thruster assembly 200. In some embodiments, universal joints 204 and 205 may be detached by a boom. The pod 102 may include a third universal joint 230 (e.g., for positioning the body 201 relative to the spacecraft 20). Figure 1A (Rotation) is used to position gimbals 204, 205 relative to the spacecraft body. In some embodiments, the pod 102 may include a third gimbal 230 adjacent to gimbal 204 (e.g., between the body 201 and the boom 206). Such a third gimbal 230 may cooperate with gimbals 204, 205 to function to generate three degrees of freedom (e.g., three rotational degrees of freedom).

[0107] In some embodiments, the gripping mechanism 228 may be spaced apart from the body 201 by means of one or more structures 232 in order to interact with the spacecraft servicing device 100. Figure 2A The robotic arm 122 is connected.

[0108] Pod 102 may include means for securing pod 102 to spacecraft service unit 100. Figure 2A The pod 102 may include a loading mechanism 234 (e.g., which may be spaced apart from the main body 201 by means of a structure 232) that is coupled to a portion of the spacecraft service device 100. In other embodiments, one or more of the above-described existing features (e.g., coupling mechanism 226 and / or gripping mechanism 228) or another feature may be used to secure the pod 102 to the spacecraft service device 100.

[0109] As described above, pod 102 can be configured to deliver changes in orbital velocity (e.g., position holding, repositioning, EOL disposal) to spacecraft 20, for example, while disconnected from the control system of spacecraft 20 (e.g., not communicating with it). Figure 1A In other words, the pod 102 can alter the trajectory (e.g., orbit) of spacecraft 20 independently while being attached to spacecraft 20 but not communicating with the control system of spacecraft 20. The change in velocity can be provided from the thruster 202 (e.g., an ion thruster, a Hall current thruster, a grid ion thruster, a Hall effect thruster, or any other suitable type of electric or chemical thruster that produces any suitable level of thrust).

[0110] In some embodiments, as described above, the pod 102 may at least partially function as an auxiliary fuel tank (e.g., a tank for high-pressure xenon, hydrazine, helium, nitrogen tetroxide (NTO), green propellant, a combination thereof, or any other suitable fuel), which is coupled to the spacecraft 20 (e.g., Figure 1A (For example, attached to the exterior of spacecraft 20). For example, pod 102 may include one or more of such fuel tanks in power and propulsion system 210. In other embodiments, as described below, pod 102 may include only the fuel tank and associated components configured to attach to spacecraft 20 and position the fuel tank in fluid communication with spacecraft 20.

[0111] In some embodiments, pod 102 may essentially comprise only an auxiliary container system and may exclude most or any of the components described above. Such an auxiliary container system pod 102 may include a service valve for initial pressurization of the system, mechanical supports for assembling and attaching to a spacecraft, gripping attachments, and / or passive thermal control. In some embodiments, a deployment device (e.g., a robotic arm) may be used to place the auxiliary container pod 102 at its destination, which may be cooperatively designed to accept or not accept the container. The target spacecraft 20 for the transfer container pod 102 may have a co-designed interface for gas and fluid transfer, or, when the spacecraft 20 does not have such an interface, the auxiliary container pod 102 may include an interface configured to accommodate various sizes and configurations of accessories on such spacecraft 20.

[0112] Figure 4 This is a simplified schematic diagram of pod 102, which is attached to spacecraft 20 in a first configuration 300 with a first thrust vector direction 301 and in a second configuration 302 with a second thrust vector direction 303. (Refer to...) Figure 3 and Figure 4 Universal joints 204, 205, and 230 can provide a selectable number of degrees of freedom (e.g., two or three degrees of freedom) for directing the thrust vector through the center of mass of spacecraft 20. Thrust can be generated based on the initial position of spacecraft 20 in orbit according to commands (e.g., from a remote ground station) and / or according to a schedule (e.g., a predetermined schedule and / or a schedule actively transmitted to pod 102), and can reduce or even eliminate the burden of position holding and momentum unloading from the propulsion subsystem of spacecraft 20. In some embodiments, the amount and / or thrust vector can be transmitted to pod 102 via a communication link to pod 102 according to any desired schedule.

[0113] As shown in a first configuration 300 (e.g., three rotational degrees of freedom) of gimbals 204, 205, 230 providing a first thrust vector direction 301, thrust can be applied in a predominantly south direction or in a direction anti-normal to the spacecraft orbital direction. Similarly, as shown in a second configuration 302 of gimbals 204, 205, 230 providing a second thrust vector direction 303, thrust can be applied in a predominantly north direction or in a direction perpendicular to the spacecraft orbital direction. Figure 4 As shown, each configuration can include components of the thrust vector in either the positive or negative direction of the orbital velocity. Figure 5 As shown, the thrust vector in each configuration (e.g., south and north) also has a considerable component in the orbital radial direction of the spacecraft. Slight variations in the thrust vector and burn duration are used to perform station-keeping and momentum adjustment of spacecraft 20 according to commands (e.g., from a remote ground station) and / or according to schedules (e.g., predetermined schedules and / or schedules actively sent to pod 102), as discussed below. In some embodiments, the thrust vector can be applied at different locations around the spacecraft at different times in orbit to optimize the control of spacecraft orbital elements and the management of spacecraft momentum.

[0114] The additional thrust from pod 102 can reduce the rate of propellant consumption from spacecraft 20 by, for example, 90% or more, up to 100%, and thus extend the mission life of spacecraft 20.

[0115] Given that thrust is typically insufficient to completely eliminate drift of the spacecraft 20's orbital elements during a single activation cycle (i.e., burn), the pod 102 can induce smaller directional velocities on the spacecraft 20 in one or more orbital directions (e.g., orbital radial, vertical, anti-vertical, in-plane) during each thruster activation cycle, and achieve control over all orbital elements of the spacecraft 20 through combinations of multiple activation cycles. For example, a propulsion schedule for the pod 102 can be planned for selected intervals within a single orbital rotation (e.g., two twelve-hour periods in a day) and for different orbital rotations over periods of one week, two weeks, three weeks, one month, or longer. Such a schedule can provide paired thruster burners and associated gimbal angles that produce velocity variations that control some or all orbital elements and adjust the spacecraft's momentum simultaneously with or separately from the velocity variations.

[0116] Figure 5 Provide another simplified schematic diagram of pod 102 (e.g., from Figure 4(The view in the image is rotated 90 degrees). The pod 102 is attached to the spacecraft 20 in a first configuration 304 with a first thrust vector direction 305 and in a second configuration 306 with a second thrust vector direction 307. (Refer to...) Figure 3 and Figure 5 The gimbals 204 and 205 provide two degrees of freedom for directing the thrust vectors 305 and 307 through the center of mass 158 of the spacecraft 20. As shown, the propulsion schedule for the pod 102 can be planned for two time periods of twelve hours apart throughout the day (or any time interval that provides the desired result to the target spacecraft 20). Such a schedule can provide pairs of thruster burners 305 and 307 that produce velocity variations that can cancel each other out or be used to control the eccentricity of the spacecraft's orbit.

[0117] In some embodiments, propulsion commands and / or schedules may be developed and communicated to pod 102 to provide the desired orbit, position, and / or velocity of spacecraft 20, at least in part, based on the characteristics of spacecraft 20.

[0118] In some embodiments, the coupling portion 310 of the pod 102 (e.g., including a docking mechanism, such as the expandable docking mechanism 160 described above) may include a movable (e.g., rotatable) joint. For example, the rotatable coupling portion 310 can secure the pod 102 to the target spacecraft 20 (e.g., by wedging against a portion of the target spacecraft's engine 314) while allowing the pod 102 to rotate relative to the target spacecraft 20. This configuration allows the thruster boom arm 312 to have a certain degree of freedom (e.g., eliminating the need for a third gimbal 230, etc.). Figure 3 This eliminates the need for individual movable joints and eliminates the need for two or more actuator universal joint assemblies.

[0119] Figure 6 It is a resupply device for spacecraft servicing systems (e.g., spacecraft servicing system 10). Figure 1A A simplified schematic diagram of the resupply device 30). Figure 6As shown, the resupply device 30 may include a plurality of pods 102 attached to and / or housed within a structure 400 (e.g., an ESPA ring). In some embodiments, each pod 102 may include a corresponding attachment mechanism 401 for coupling to the structure 400. The structure 400 may include a plurality of connectors. For example, a first connector 402 and a second connector 404 are used for connecting to one of the launch vehicle's payload and / or the launch vehicle itself. The structure 400 may include a bus 406 that includes one or more spacecraft systems for controlling, monitoring, powering, etc., the resupply device 30. The structure 400 may include a gripping feature 408 ( Figure 4 It is configured to work with another part of system 10 (1A) (e.g., spacecraft servicing unit 100). Figure 2A For example, the grasping feature 408 may include a structure that can be coupled to the robotic arm 122 of the spacecraft service device 100 (see [link]). Figure 2A In some embodiments, the structure of the resupply device 30 may include a separation ring and / or simulated features of a spacecraft engine (e.g., similarly shaped and / or configured structures) such that the spacecraft servicing device 100 can dock with said structure of the resupply device 30.

[0120] Figures 7 to 10 Various embodiments of a spacecraft servicing apparatus according to one or more embodiments of the present disclosure are shown, the spacecraft servicing apparatus including a plurality of pods coupled to the spacecraft servicing apparatus. For example... Figure 7 As shown, the spacecraft servicing unit 500 may be defined by one or more annular structures 502 (e.g., two ESPA rings stacked axially with each other). Pods 102 may be coupled around the annular structures 502 (e.g., coupled around the annular structures 502 in a stack of at least two pods 102). For example, pods 102 may be coupled to each port defined around the annular structures 502. Tools (e.g., robotic arms 506) may be coupled to one of the annular structures 502 (e.g., a radially extending surface on one side of the annular structure 502).

[0121] like Figure 8As shown, the spacecraft servicing unit 500 can have different configurations of pods 102 connected around a ring structure 502. For example, pods 102 can be connected to each port defined around the ring structure 502. A second row of pods 102 can be connected to corresponding pods 102 positioned close to (e.g., adjacent to and / or connected to) the ring structure 502. Another set of pods 102 can be positioned (e.g., connected) between two pods 102 in a plurality of sets of pods extending from the ring structure 502. In some embodiments, a selected amount of clearance (e.g., including no clearance) can be provided between the pods 102. In some embodiments, the outermost pod 102 can be configured to be positioned within the diameter of a portion of the launch vehicle (e.g., the payload fairing), extend into a portion of the launch vehicle (e.g., the payload fairing), or extend beyond a portion of the launch vehicle (e.g., the payload fairing).

[0122] like Figure 9 As shown, the spacecraft servicing device 500 can have different configurations of pods 102 connected around a ring structure 502. For example, pods 102 can be connected to each port defined around the ring structure 502, but spaced apart from said ports. A second row of pods 102 can be positioned adjacent to (e.g., connected to) a corresponding pod 102 positioned close to the ring structure 502. Yet another set of pods 102 can be positioned (e.g., connected) between two pods 102 in a plurality of sets of pods extending from the ring structure 502.

[0123] like Figure 10 As shown, the spacecraft servicing device 500 can have different configurations of pods 102 connected around a ring structure 502. For example, a selected number of pods 102 (e.g., three pods 102) can be connected to each port defined around the ring structure 502. A second row of pods 102 can be positioned adjacent to (e.g., connected to) a corresponding pod 102 positioned close to the ring structure 502. Yet another set of pods 102 can be positioned (e.g., connected) on either side of each corresponding pod 102 positioned close to the ring structure 502.

[0124] Additional non-limiting embodiments of this disclosure include:

[0125] Example 1: A spacecraft servicing device comprising: a body configured to be deployed from a host spacecraft at a location adjacent to a target spacecraft; and a propellant tank coupled to the body, the propellant tank being configured to store at least one propellant and communicate with a portion of the propulsion apparatus of the target spacecraft, the spacecraft servicing device being configured to supply at least a portion of the at least one propellant from the propellant tank to the propulsion apparatus of the target spacecraft during at least one servicing operation and while coupled to the target spacecraft.

[0126] Example 2: The spacecraft service apparatus according to Example 1, wherein the spacecraft service apparatus is configured to supply the at least one propellant from the propellant tank to the propulsion device of the target spacecraft while bypassing any fuel storage section of the target spacecraft.

[0127] Example 3: A spacecraft servicing device according to Example 1 or 2, wherein the spacecraft servicing device is configured to supply the at least one propellant to the target spacecraft when coupled to the target spacecraft to change at least one of the target spacecraft's orbit or velocity without refueling the target spacecraft.

[0128] Example 4: A spacecraft service device according to any one of Examples 1 to 3, wherein the spacecraft service device is configured to use only the mechanism of the host spacecraft located at a position adjacent to the target spacecraft.

[0129] Example 5: A spacecraft service device according to any one of Examples 1 to 4, wherein the spacecraft service device does not have a propulsion device for independently moving the spacecraft service device.

[0130] Example 6: The spacecraft service device according to any one of Examples 1 to 5 further includes a coupling mechanism configured to couple the spacecraft service device to the target spacecraft and place the propellant tank in fluid communication with the portion of the propulsion device of the target spacecraft.

[0131] Example 7: A spacecraft service device according to any one of Examples 1 to 6, wherein the spacecraft service device is configured to replace the existing propellant tank of the target spacecraft when coupled to the target spacecraft.

[0132] Example 8: A spacecraft service device according to any one of Examples 1 to 7, wherein the spacecraft service device is configured to supply the at least one propellant from the propellant tank to at least one thruster of the propulsion device of the target spacecraft.

[0133] Example 9: A spacecraft servicing device comprising: a body configured to be deployed from a host spacecraft at a location adjacent to a target spacecraft, the host spacecraft accommodating a plurality of spacecraft servicing devices; and a propellant tank coupled to the body, the propellant tank being configured to store at least one propellant and positioned in fluid communication with a portion of the target spacecraft, the propellant tank being configured to supply at least a portion of the at least one propellant to the target spacecraft during at least one servicing operation while coupled to the target spacecraft.

[0134] Example 10: A spacecraft service device according to Example 9, wherein the spacecraft service device is configured to supply the at least one propellant from the propellant tank to at least one thruster of the propulsion device of the target spacecraft.

[0135] Example 11: A spacecraft service device according to Example 9 or 10, wherein the spacecraft service device is configured to fluidly connect the propellant tank to the propellant supply feature of the propulsion device.

[0136] Example 12: A spacecraft service device according to any one of Examples 9 to 11, wherein the spacecraft service device is configured to fluidly connect the propellant tank to the propellant supply feature of the propulsion device while bypassing the propellant storage feature of the target spacecraft.

[0137] Example 13: A spacecraft servicing device comprising: a body configured to be deployed from a host spacecraft; a thruster assembly coupled to the body and configured to alter at least one momentum of the target spacecraft after being coupled to the target spacecraft; and a communication device configured to receive data relating to the at least one momentum of the target spacecraft from a location remote from the spacecraft servicing device.

[0138] Example 14: A spacecraft service device according to Example 13, wherein the spacecraft service device is configured to receive data relating to at least one momentum of the target spacecraft from the target spacecraft.

[0139] Example 15: A spacecraft servicing device according to Example 13 or 14, wherein the spacecraft servicing device is configured to change the at least one momentum of the target spacecraft based on data relating to the at least one momentum of the target spacecraft received by the communication device.

[0140] Example 16: A spacecraft servicing device according to any one of Examples 13 to 15, wherein the spacecraft servicing device is configured to use only the thruster assembly to change the momentum of the target spacecraft at least one.

[0141] Example 17: A spacecraft servicing device comprising: a body configured to be deployed from a host spacecraft; a thruster assembly coupled to the body, the thruster assembly being configured to alter at least one of the orbit or velocity of the target spacecraft after being coupled to the target spacecraft; and a communication device configured to receive data relating to the target spacecraft from a location remote from the spacecraft servicing device.

[0142] Example 18: The spacecraft service device according to Example 17, wherein the spacecraft service device is configured to receive data relating to at least one of the target spacecraft’s orbit or velocity directly or indirectly from the target spacecraft via a radio frequency link.

[0143] Example 19: A spacecraft servicing device comprising: a body configured to be deployed from a host spacecraft and coupled to a target spacecraft; and a communication device configured to receive data relating to the target spacecraft, the communication device including a flexible frequency transceiver configured to selectively change the communication frequency of the flexible frequency transceiver, the flexible frequency transceiver being configured to communicate with a ground station associated with the target spacecraft and to change the communication frequency of the flexible frequency transceiver to match the communication frequency of the ground station.

[0144] Example 20: A method for servicing a spacecraft, the method comprising: transferring a pod of a spacecraft servicing device to the spacecraft by means of the spacecraft servicing device; coupling the pod to the spacecraft while the pod is in contact with the spacecraft servicing device; and, after the thruster assembly of the spacecraft servicing device is coupled to the spacecraft, altering at least one of the spacecraft's orbit or velocity by means of the thruster assembly.

[0145] Example 21: According to the method of Example 20, changing at least one of the spacecraft's orbit or velocity includes modifying the spacecraft's momentum.

[0146] Example 22: The method according to Example 20 or 21 further includes: receiving data relating to at least one of the spacecraft's orbit or velocity from a location remote from the pod using a communication device.

[0147] Example 23: The method according to any one of Examples 20 to 22, wherein receiving data relating to at least one of the spacecraft's orbit or velocity includes receiving the data directly or indirectly from the spacecraft.

[0148] Example 24: The method according to any one of Examples 20 to 23 further includes: receiving updated data relating to at least one of the orbit or velocity of the target spacecraft at selected intervals; and using the updated data to further alter at least one of the orbit or velocity of the spacecraft by means of the thruster assembly of the spacecraft servicing device.

[0149] Example 25: The method according to any one of Examples 20 to 24, wherein changing at least one of the spacecraft's orbit or speed includes modifying at least one of the spacecraft's orbit or speed according to a predetermined schedule.

[0150] Since the embodiments of this disclosure described above are merely examples of embodiments of this disclosure, the embodiments described above and shown in the accompanying drawings do not limit the scope of this disclosure, which is defined only by the appended claims and their legal equivalents. Any equivalent embodiments are intended to fall within the scope of this disclosure. In fact, various modifications to this disclosure, in addition to those shown and described herein, such as alternative and useful combinations of the described elements, will become apparent to those skilled in the art. Such modifications and embodiments are also intended to fall within the scope of the appended claims and their legal equivalents.

Claims

1. A spacecraft service pod, comprising: The body includes a connecting device; A propellant tank configured to store at least one propellant and positioned in fluid communication with a portion of the propulsion apparatus of a target spacecraft, a spacecraft service pod configured to, when coupled to the target spacecraft via the coupling device and during at least one service operation on the target spacecraft, supply at least a portion of the at least one propellant from the propellant tank to the propulsion apparatus of the target spacecraft, bypassing any fuel storage sections of the target spacecraft, the spacecraft service pod configured to be retrieved from a selected orbit in space by a host spacecraft and allocated to the target spacecraft to supply the target spacecraft with the at least one portion of the at least one propellant from the propellant tank of the spacecraft service pod; and A propulsion system, the propulsion system of the spacecraft service pod being connected to the body, for maneuvering the spacecraft service pod.

2. The spacecraft service pod according to claim 1, wherein, The spacecraft service pod is configured, when attached to the target spacecraft, to supply the at least one propellant to the target spacecraft to alter at least one of the target spacecraft's orbit or velocity without refueling the target spacecraft.

3. The spacecraft service pod according to claim 2, wherein, The propulsion system of the spacecraft service pod is connected to the main body via a boom arm.

4. The spacecraft service pod according to claim 3, wherein, The boom arm is connected to the body at a location near the connecting device.

5. The spacecraft service pod according to claim 4, wherein, The boom arm is configured to rotate relative to the body and at least partially around the coupling device.

6. The spacecraft service pod according to claim 1, wherein, The coupling device is configured to modify the target spacecraft to place the propellant tank in fluid communication with the target spacecraft's propulsion system.

7. The spacecraft service pod according to claim 1, wherein, The spacecraft service pod is configured to modify the target spacecraft to place the propellant tank in fluid communication with the target spacecraft.

8. The spacecraft service pod according to claim 1, wherein, The connection device includes an expandable docking mechanism that connects to the body.

9. The spacecraft service pod according to claim 8, wherein, The scalable docking mechanism includes a distal end having barbs for attachment to the target spacecraft.

10. The spacecraft service pod according to claim 1, wherein, The propellant tank is configured to be used as an external replacement tank for the target spacecraft.

11. The spacecraft service pod of claim 1, further comprising a pairing adapter for connecting the propellant tank to the fuel system of the target spacecraft.

12. The spacecraft service pod of claim 1, further comprising controlling the pressure of the at least one propellant supplied from the propellant tank to the fuel system of the target spacecraft.

13. A mission extension pod, comprising: ontology; The connecting device on the main body; and A propellant tank configured to store at least one propellant and positioned in fluid communication with a portion of the propulsion apparatus of a target spacecraft, the mission extension pod configured to, when coupled to the target spacecraft and during at least one servicing operation of the target spacecraft, supply at least a portion of the at least one propellant from the propellant tank to the propulsion apparatus of the target spacecraft, bypassing any fuel storage sections of the target spacecraft, and the mission extension pod configured to be retrieved from a selected orbit in space by a host spacecraft and allocated to the target spacecraft to supply the target spacecraft with the at least one portion of the at least one propellant from the propellant tank of the mission extension pod.

14. The mission extension pod of claim 13, further comprising a propulsion device coupled to the body for maneuvering the mission extension pod.

15. The mission extension pod according to claim 14, wherein, The propulsion device and the coupling device of the mission extension pod are positioned on the same side of the main body.

16. The mission extension pod according to claim 15, wherein, The propulsion device of the mission extension pod is configured to rotate at least partially around the coupling device.

17. The mission extension pod according to claim 13, wherein, The mission extension pod does not have a propulsion device for independently moving the mission extension pod.

18. A method for supplying propellant to a target spacecraft via one or more mission extension pods, the method comprising: The mission extension pods are used to fly from orbit in space to the target spacecraft, and each mission extension pod includes at least one spacecraft service component. Connect one or more mission extension pods to the target spacecraft; and At least a portion of the propellant from the propellant tanks of the one or more mission extension pods is supplied to the propulsion system of the target spacecraft via a fluid passageway of the target spacecraft's propulsion system; as well as While supplying the propellant from the propellant tank to the propulsion system of the target spacecraft, the system bypasses any fuel storage volume of the propulsion system that is in fluid communication with the fluid channels of the propulsion system. The one or more mission extension pods are configured to be retrieved from a selected orbit in space by a host spacecraft and assigned to the target spacecraft to supply the target spacecraft with at least a portion of the propellant in the propellant tanks of the one or more mission extension pods.

19. The method of claim 18, further comprising configuring a propulsion system for the one or more mission extension pods.

20. The method of claim 19, further comprising moving the one or more mission extension pods in space via the propulsion system of the one or more mission extension pods.

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