Spacecraft operating devices, as well as related assemblies, systems, and methods.

Abstract

To provide reliable and robust servicing spacecraft that provide a variety of servicing options for spacecraft.SOLUTION: Spacecraft-servicing devices 100 or pods 102 and related methods may be configured to be deployed from a carrier spacecraft, and can include at least one spacecraft-servicing component 103 configured to perform at least one servicing operation on a target spacecraft 20. The spacecraft-servicing devices 100 may be configured to be transported from an initial orbit to another orbit after the spacecraft-servicing device 100 is deployed from the carrier spacecraft.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Claim of Priority This application claims the benefit of the filing date of U.S. Provisional Patent Application No. 62 / 792,779, filed Jan. 15, 2019, entitled “Spacecraft Servicing Devices and Related Assemblies, Systems, and Methods.”

[0002] Embodiments of the present disclosure generally relate to servicing devices for spacecraft (e.g., satellites). In particular, embodiments of the present disclosure relate to servicing systems having one or more detachable servicing devices (e.g., pods or modules), as well as related devices, systems, assemblies, and methods.

Background Art

[0003] Thousands of spacecraft are orbiting the Earth to perform various functions, including, for example, telecommunications, GPS navigation, weather forecasting, and mapping. Like all machines, spacecraft periodically require work to extend the useful life of the spacecraft's functions. The work may include, for example, component repair, refueling, orbit raising, station keeping, momentum balancing, or other maintenance management. To achieve this, a servicing spacecraft can be sent into orbit to dock with a client spacecraft that requires maintenance management, and after docking, perform maintenance management for life extension on the client spacecraft. Without performing maintenance management for life extension, these spacecraft may become inoperative. Generally, replacement is very costly and the lead time can be several years.

[0004] A variety of patent documents and publications have been issued considering the operation and related features of such spacecraft, including U.S. Patents 3,508,723, 4,219,171, 4,391,423, 4,588,150, 4,664,344, 4,898,348, 5,005,786, 5,040,749, 5,094,410, 5,299,764, 5,364,046, and U.S. Japanese Patent No. 5,372,340, U.S. Patent No. 5,490,075, U.S. Patent No. 5,511,748, U.S. Patent No. 5,735,488, U.S. Patent No. 5,803,407, U.S. Patent No. 5,806,802, U.S. Patent No. 6,017,000, U.S. Patent No. 6,299,107, U.S. Patent No. 6,330,987, U.S. Patent No. 6,484,973, U.S. Patent No. 6,523,784, U.S. Patent No. 6,742,745, U.S. Patent No. 6,843,446, U.S. Patent No. 6,945,500, U.S. Patent No. 6,9 U.S. Patent Nos. 69,030, 7,070,151, 7,104,505, 7,207,525, 7,216,833, 7,216,834, 7,240,879, 7,293,743, 7,370,834, 7,438,264, 7,461,818, 7,484,690, 7,513,459, 7,513,460, 7,575,199 U.S. Patent Nos. 7,588,213, 7,611,096, 7,611,097, 7,624,950, 7,815,149, 7,823,837, 7,828,249, 7,857,261, 7,861,974, 7,861,975, 7,992,824, 8,006,937, 8,006,938, 8,016,242, U.S. Patent U.S. Patent Nos. 8,056,864, 8,074,935, 8,181,911, 8,196,870, 8,205,838, 8,240,613, 8,245,370, 8,333,347, 8,412,391, 8,448,904, 8,899,527, 9,108,747, 9,302,793, 9,321,175, and 9,399,295; U.S. Patent Application Publication 2004 / 0026571, U.S. Patent Application Publication 2006 / 0145024 U.S. Patent Application Publication Nos. 2006 / 0151671, 2007 / 0228220, 2009 / 0001221, 2012 / 0112009, 2012 / 0325972, 2013 / 0103193, 2015 / 0008290, 2015 / 0314893, 2016 / 0039543, and 2016 / 0039544; EP0541052, EP0741655B1, EP0741655B2, and EP1654159; PCT Pub.2005 / 110847, PCT Pub.2005 / 118394, PCT Pub.2014 / 024199, and PCT Pub.2016 / 030890; Japan Patent No. JPH01282098; "Automated Rendezvous and Docking of Spacecraft" Fehse, Wigbert (eds.), Cambridge University Press, 2003; "On-Orbit Servicing Missions: Challenges and Solutions for Spacecraft Operations" Sellmaier, F.This includes "Towards a Standardized Grasping and Refueling On-Orbit Servicing for Geo Spacecraft," edited by Alberto Medina et al., Acta Astronautica 134 1-10, 2017; and "DEOS - The In-Flight Technology Demonstration of German's Robotics Approach to Dispose Malfunctioned Satellites," edited by D. Reintsema et al., with each of these disclosures incorporated herein by reference in whole.

[0005] However, highly reliable and robust work spacecraft that offer diverse work options for spacecraft can be prohibitively expensive. On the other hand, low-cost options may not offer diverse work options and may not provide the highly reliable and robust operational capabilities required for many applications. [Overview of the project] [Means for solving the problem]

[0006] Embodiments of the present disclosure include a spacecraft work device comprising: a body configured to be deployed from a carrier spacecraft in an initial orbit that is not a geosynchronous orbit in which it remains stationary relative to the rotation of the Earth; at least one spacecraft work component configured to perform at least one work operation on a target spacecraft while coupled to the target spacecraft; a thruster assembly configured to change at least one of the orbit, velocity, or momentum of the spacecraft work device; and a docking mechanism for coupling the body to the target spacecraft, wherein the thruster assembly is configured to transport the body from the initial orbit to a geosynchronous orbit after the body has been deployed from the carrier spacecraft.

[0007] Embodiments of this disclosure relate to the final target orbit of a spacecraft work device. A spacecraft work device further comprises a body configured to be deployed from a carrier spacecraft in an initial orbit that is not an orbit; at least one spacecraft work component configured to perform at least one work operation on the target spacecraft while coupled to the target spacecraft; and a docking mechanism for coupling the body to the target spacecraft, wherein the body is configured to be transported from the initial orbit to the final target orbit after the body has been deployed from the carrier spacecraft, and the docking mechanism is configured to be coupled to the target spacecraft with the assistance of another coupling spacecraft configured to hold and position the body relative to the target spacecraft.

[0008] Embodiments of the present disclosure further include a spacecraft work device comprising: a thruster assembly having at least one thruster, the thruster assembly configured to change the orbit of a spacecraft work device from a first orbit to a second orbit when the spacecraft work device is not coupled to another spacecraft; a body configured to be coupled to the target spacecraft by a carrier spacecraft at a location adjacent to the target spacecraft; at least one spacecraft work component configured to perform at least one work operation on the target spacecraft when the body is coupled to the target spacecraft, the at least one spacecraft work component comprising a thruster assembly, the thruster assembly further configured to change at least one of the orbit, velocity, or momentum of the target spacecraft when the body is coupled to the target spacecraft; and a communication device configured to receive data relating to at least one of the orbit, velocity, or momentum of the target spacecraft from a transmission location located away from the spacecraft work device.

[0009] Embodiments of the present disclosure further include a method for working on a spacecraft, which includes deploying a pod to an initial orbit lower than Earth-synchronous orbit, transporting the pod from the initial orbit to a substantially Earth-synchronous orbit, docking the pod to a spacecraft in Earth-synchronous orbit, and performing at least one spacecraft work operation after docking to the spacecraft.

[0010] The above overview is not intended to describe each of the embodiments shown, nor is it intended to describe all implementations of this disclosure. The drawings included in this application are incorporated herein and form part of this specification. The drawings illustrate embodiments of the disclosure and, together with this description, illustrate the principles of the disclosure. The drawings illustrate only specific embodiments and do not limit the disclosure. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1A is a simplified schematic diagram showing a spacecraft work system and a target spacecraft on which work is performed, according to one or more embodiments of the present disclosure. Figure 1B shows an embodiment of a fuel tank supply device that may be mounted on one or more devices of the spacecraft work system of Figure 1A. [Figure 2A] This is a simplified schematic diagram illustrating a spacecraft work device according to one or more embodiments of the present disclosure. [Figure 2B] This is a simplified schematic diagram illustrating a spacecraft work device according to one or more embodiments of the present disclosure. [Figure 2C] This figure shows an embodiment of a coupling mechanism according to one or more embodiments of the present disclosure. [Figure 2D] This figure shows an embodiment of a coupling mechanism according to one or more embodiments of the present disclosure. [Figure 2E] This figure shows an embodiment of a coupling mechanism according to one or more embodiments of the present disclosure. [Figure 2F] This figure shows an embodiment of a coupling mechanism according to one or more embodiments of the present disclosure. [Figure 2G] This figure shows an embodiment of a coupling mechanism according to one or more embodiments of the present disclosure. [Figure 2H] This figure shows an embodiment of a coupling mechanism according to one or more embodiments of the present disclosure. [Figure 2I] This figure shows an embodiment of a coupling mechanism according to one or more embodiments of the present disclosure. [Figure 2J] This figure shows an embodiment of a coupling mechanism according to one or more embodiments of the present disclosure. [Figure 2K] This figure shows an embodiment of a coupling mechanism according to one or more embodiments of the present disclosure. [Figure 2L] This is a perspective view showing a spacecraft work device according to one or more embodiments of the present disclosure. [Figure 3]A simplified schematic diagram showing a mission extension pod according to one or more embodiments of the present disclosure. [Figure 4] A simplified schematic diagram showing a mission extension pod attached to a spacecraft in the directions of two propulsion vectors according to one or more embodiments of the present disclosure. [Figure 5] Another simplified schematic diagram showing a mission extension pod attached to a spacecraft in the directions of two thruster vectors according to one or more embodiments of the present disclosure. [Figure 6] A simplified schematic diagram showing a resupply device of a spacecraft operation system according to one or more embodiments of the present disclosure. [Figure 7] A diagram showing an embodiment of a spacecraft operation device having a plurality of pods coupled to a spacecraft operation device according to one or more embodiments of the present disclosure. [Figure 8] A diagram showing an embodiment of a spacecraft operation device having a plurality of pods coupled to a spacecraft operation device according to one or more embodiments of the present disclosure. [Figure 9] A diagram showing an embodiment of a spacecraft operation device having a plurality of pods coupled to a spacecraft operation device according to one or more embodiments of the present disclosure. [Figure 10] A diagram showing an embodiment of a spacecraft operation device having a plurality of pods coupled to a spacecraft operation device according to one or more embodiments of the present disclosure. [Figure 11] A simplified schematic diagram showing another configuration of a spacecraft operation system and a target spacecraft on which operations are performed according to one or more embodiments of the present disclosure.

Mode for Carrying Out the Invention

[0012] The figures presented in this specification are not intended to be actual figures of any particular device, assembly, system, or their components, but are merely idealized figures adopted to illustrate exemplary embodiments. The drawings are not necessarily to scale.

[0013] As used herein in reference to a given parameter, the term "substantially" means a range such that a given parameter, characteristic, or condition conforms with a minor amount of variation, such as within the tolerances of acceptable manufacturing, and includes such a range. For example, a parameter that substantially conforms may conform at least about 90%, at least about 95%, at least 99%, or at least 100%.

[0014] Embodiments of the present disclosure generally relate to spacecraft (also referred to herein as "client spacecraft" or "target spacecraft") working devices for providing work for life extension of spacecraft (e.g., satellites, or other vehicles). A spacecraft working system, a spacecraft working assembly, or a spacecraft working device (e.g., a spacecraft, vehicle) may have one or more deployable spacecraft working devices, pods, or modules (e.g., a mission extension pod (MEP)) initially attached to or later captured by the spacecraft working device (e.g., a MEP mother ship (MEPM) or a mission robotic vehicle (MRV)). Then, the spacecraft working device can transfer the pod to / from the client spacecraft. A spacecraft resupply device can provide additional pods for the spacecraft working device.

[0015] Pods (e.g., one, five, six, ten, fifteen, or more pods provided by a mothership) may be supplied to a target spacecraft (e.g., they may be individually deployed and / or attached to the spacecraft) thereby supplying life-extending work to the spacecraft, which includes, for example, component repair, refueling, orbital ascent or other modifications (e.g., deorbiting), repositioning, inclination pull-down, geostationary position maintenance, momentum balancing, momentum adjustment, supply replenishment, supply of new supplies or parts, and / or other maintenance. In some embodiments, pods may be used for adjusting the spacecraft's speed, position, and / or orbit, including geostationary position maintenance, inclination pull-down, orbital repositioning, and decommissioning. In some embodiments, pods may be used to manage momentum and to achieve attitude control of the spacecraft. In some embodiments, pods may supply replacements and additional components. For example, the pod may be equipped with components that can be used to replace faulty parts, to complement existing parts, and / or to add parts, selected functions and structures to the spacecraft (e.g., flight control components, avionics components such as reaction wheels, motor components, communication components, power system components, sensor components, optical components, thermal control components, telemetry components, and combinations thereof). As a further example, the pod may have telemetry components, such as optical devices that measure the position of stars using, for example, photocells or cameras (e.g., star trackers). Such devices may be supplied on the pod to monitor and / or correct the characteristics of the spacecraft's navigation (e.g., attitude).

[0016] In some embodiments, a spacecraft work device can deploy and attach one or more pods of the pods to a spacecraft when it requires work on an artificial satellite in orbit using a robotic spacecraft work device (e.g., one or more robotic arms enabling one or more degrees of freedom, each having one or more end effectors for various tasks). For example, a spacecraft work device can deploy one or more pods of the pods and attach them to a part of the spacecraft (e.g., a separation ring, engine, external attachment, or any other suitable mechanical attachment or coupling structure). In some embodiments, a spacecraft work device can capture one of the pods using a robotic work device. In some embodiments, the spacecraft work device itself can perform certain work tasks before, during, and / or after the deployment of the pods to the spacecraft.

[0017] Spacecraft work devices, when necessary for work, can be transported to or from the spacecraft in space. The mission extension pod can be moved between and mounted on the spacecraft. In some embodiments, a spacecraft work device can attach the pod to the spacecraft and detach it from the attached pod for work. For example, the pod may be permanently attached to the spacecraft and substantially become another component of the spacecraft, which may or may not be connected to the spacecraft's existing systems. In such embodiments, the pod may be configured to perform work over a selected period of time (e.g., short-term work and / or long-term work, or a combination thereof, such as over a few minutes, weeks, months, or years). In some embodiments, the spacecraft work device or another similar device may be able to detach the pod after a selected amount of work, refuel the pod, and / or replace the pod. For example, a part of the work system (e.g., a spacecraft work device, or another part such as the resupply device considered above) can resupply (e.g., replenish, resupply, replenish, etc.) one or more consumables (e.g., fuel, gas, parts, etc.) to the pod. In some embodiments, the spacecraft work device can attach an additional device (e.g., a tank) containing such consumables to the pod. In some embodiments, the spacecraft work device can detach the pod from the spacecraft, replenish and / or repair and adjust the pod, and then reattach the pod to the same spacecraft or another spacecraft (e.g., reuse the pod).

[0018] Once the pod is attached to the spacecraft, it can be activated to change its velocity (e.g., by providing ΔV), including changing the direction of the spacecraft (e.g., by changing the spacecraft's orbit, position, or other orientation), thereby achieving, for example, orbit maintenance. By applying a velocity change to the combined mass of the spacecraft and the mission extension pod at appropriate times and directions, the mission extension pod can extend the spacecraft's in-orbit life by, for example, replacing the spacecraft's propulsion system (e.g., by completely replacing it), or by reducing the rate at which the spacecraft consumes fuel necessary to maintain the desired velocity, position, and orbit. The mission extension pod can apply such velocity changes to the spacecraft according to a schedule provided from data related to the spacecraft. In some embodiments, the data necessary for the maneuvering schedule can be pre-programmed into the mission extension pod. In some embodiments, such a schedule and other data can be transmitted to the mission extension pod after the pod has been launched and / or coupled to the spacecraft. In some embodiments, the pod may be configured solely to provide thrust (e.g., relatively small thrust) to the spacecraft without otherwise interacting with other systems or accessories of the spacecraft. In some embodiments, the pod may be configured to provide torque around the spacecraft, thereby allowing the spacecraft to regulate its momentum. In other embodiments, the pod may perform other tasks (e.g., as considered herein) and / or communicate at least partially with one or more systems or subsystems of the spacecraft.

[0019] In some embodiments, after the number of pods on the spacecraft work device is reduced or depleted, the satellite work system may be configured to supply or resupply pods to the spacecraft work device via a mission extension pod supply or resupply device (MEPR). For example, when the supply of mission extension pods is reduced or depleted, the spacecraft work device can obtain a new supply of pods (e.g., one pod, five pods, six pods, ten pods, fifteen pods, or more), thereby enabling work to extend the expected lifespan of the spacecraft. We can continue providing the service.

[0020] A mission extension pod resupply device (e.g., a spacecraft) can carry multiple pods (e.g., one, two, three, four, five, or more) to rendezvous with a spacecraft work device and to supply pods to the device. For example, while a spacecraft work device rendezvous to its location, the pod resupply device equipped with the mission extension pods may be positioned in an Earth-synchronous orbit (GEO) or other orbit, remaining stationary relative to the Earth's rotation. As the spacecraft work device approaches the mission extension pod resupply device, one or more devices on the spacecraft work device and / or the pod resupply device (e.g., a robotic arm of the spacecraft work device) can reposition the mission extension pods from the mission extension pod resupply device to the spacecraft work device. In other embodiments, the pod resupply device may be configured to move to the spacecraft work device. In other embodiments, one or more devices on the pod resupply device may be configured to supply pods to a spacecraft work device or the pod resupply device, and the spacecraft work device may be configured to be coupled together or otherwise physically connected for the purpose of transporting one or more of the pods. In other embodiments, the pod resupply device may be configured to transport a number of pods (e.g., one, two, four, eight, sixteen, or more pods) to a different orbit from the spacecraft work device, at which point the pods can move to the spacecraft work device under their own propulsion and / or power.

[0021] In some embodiments, the mission extension pod resupply device can provide additional supplies to or enable operations on a spacecraft work device. For example, the pod resupply device can provide additional propellant fuel for maneuvering a spacecraft work device when needed. In some embodiments, the pod resupply device can transfer propellant fuel to a spacecraft work device by performing a refueling operation and / or by transferring a tank filled with propellant fuel from the resupply device to the spacecraft work device (for example, by using one or more robotic arms on one or both of the spacecraft work device and the resupply device).

[0022] In some embodiments, for the delivery of the mission extension pod, one or both of the spacecraft work device and the spacecraft may be managed and / or comprised of a spacecraft of the class of Secondary Payload Adapters (ESPA or ESPA ring) of Evolved Expendable Launch Vehicles (EELV), such as the spacecraft developed by Northrup Grumman of Falls Church, Virginia, known as ESPAStar, or any other suitable type of device, spacecraft, or launch vehicle capable of enabling an Earth-synchronous orbit or another orbit that remains stationary relative to the appropriate rotation of the Earth.

[0023] In some embodiments, one or more devices or components of a satellite work system may be discarded, for example, by being transported from a selected geosynchronous orbit to a geosynchronous graveyard orbit (e.g., in the case of a spacecraft work device and / or a mission extension pod resupply device), or by being dropped into a fixed location on a spacecraft (e.g., in the case of a mission extension pod).

[0024] Figure 1A shows a simplified schematic diagram of the spacecraft work system 10, where, At least a portion of the spacecraft work system 10 can be operated to approach a device (e.g., another vehicle or spacecraft 20), to capture a device, to dock with a device, and / or to perform work on a device. However, in some embodiments, the spacecraft work device 100 may be configured to approach the spacecraft 20 and to transport one or more modules or pods 102 (e.g., mission extension pods 102) to the spacecraft 20, as will be discussed in more detail later.

[0025] Such a spacecraft 20 may be in a low Earth orbit, a medium-altitude Earth orbit, a geosynchronous orbit, beyond a geosynchronous orbit, or in another orbit of a celestial body such as Earth. The spacecraft 20 may have components that can be used to realize the mechanical coupling of the pod 102 to the spacecraft 20, such as engines, separation rings, and any other kind of structural components known and / or implemented in the field of spacecraft (e.g., propulsion devices or systems 22, fuel tanks 24, etc.). For example, the engine may be a liquid apogee engine, a solid-fuel motor, a thruster, or any other kind of engine or motor. The engine may be located on the zenith deck of the spacecraft 20, which in the case of a spacecraft orbiting Earth is the spacecraft deck located substantially on the opposite side of Earth.

[0026] As shown in Figure 1A, the spacecraft work device 100 may be a separate spacecraft designed to approach and work on the spacecraft 20. The spacecraft work device 100 can facilitate operations on the spacecraft 20, including maintaining a stationary position, ascending to orbit, adjusting momentum (e.g., unloading momentum around one or more axes), attitude control, repositioning, deorbiting, refueling, repair, inclination reduction, or other operations that may be performed in orbit. The spacecraft work device 100 has one or more deployable pods or modules 102 that are initially attached to the spacecraft work device 100 or that are later captured by the spacecraft work device. Pod 102 may be supplied to the spacecraft 20 (e.g., deployed to and / or attached to the spacecraft) and may have a work component 103 (e.g., shown only as one example of Pod 102 for clarity) for the purpose of performing work including, for example, repairing, replacing, and / or adding components, refueling, ascending to orbit, maintaining a stationary position, balancing momentum, replenishing supplies, providing new supplies, and / or other maintenance work (e.g., supplying life extension work to the spacecraft 20).

[0027] As shown in Figure 1A, for the purpose of supplying these operations, at least one pod may be provided from the spacecraft work device 100 and coupled to the spacecraft 20 (for example, in the vicinity of the spacecraft's center of mass or along an axis extending through the spacecraft's center of mass).

[0028] In some embodiments, the spacecraft work system 10 may have a mission extension pod supply or resupply device 30 configured to supply or resupply pods 102 to the spacecraft work device 100 after the number of pods 102 on the spacecraft work device 100 has decreased or been depleted. For example, after the supply of mission extension pods 102 has decreased or been depleted, the work device 100 can obtain a new supply of pods 102 (e.g., one pod, five pods, ten pods, fifteen pods, or more), thereby continuing to provide work for the expected life extension to the spacecraft 20. In some embodiments, the pod resupply device 30, equipped with mission extension pods 102, may be positioned in Earth-synchronous orbit (GEO) while the spacecraft work device 100 is rendezvousing to its location. As the spacecraft approaches the supply device 30, one or more devices on either or both of the spacecraft work device 100 and the pod resupply device 30 (e.g., a robotic arm on the spacecraft work device 100, which will be considered later) can reposition one or more of the mission extension pods 102 from the mission extension pod resupply device 30 to the spacecraft work device 100. In some embodiments, one of the pod resupply device 30 and the spacecraft work device 100 may be configured to hold the other for the purpose of repositioning the mission extension pods 102. For example, the spacecraft work device 100 may be able to approach the pod resupply device 30 and dock with or otherwise engage with the pod resupply device 30. Once docked, the spacecraft work device 100 can transport one or more pods 102 from the resupply device 30 to the spacecraft work device 100 (e.g., using a robotic arm). Next, the spacecraft work device 100 may be detached, and another pod may be deployed to another device. In another embodiment, the pod resupply device 30 may be configured to move to the spacecraft work device 100. In another embodiment, one or more devices (e.g., a robotic arm) on the pod resupply device 30 may be configured to supply the pod 102 to the spacecraft work device 100.

[0029] For the purpose of positioning pod 102 on the target spacecraft 20, the spacecraft work device 100 can position and store pod 102 within reach of one or more mechanisms 122 (Figure 2A) configured to position, move, and / or attach pod. As will be discussed later, this mechanism may comprise one or more robotic arms 122, and / or other types of deployment devices (e.g., coupling mechanisms), such as an extendable and / or retractable boom similar to the deployment device 160 discussed later, which is configured to secure the spacecraft work device 100 to pod 102, as will be discussed later. In some embodiments, one or more robotic arms 122 may have one or more degrees of freedom, allowing the arms 122 to move along one or more axes of motion. For example, in some embodiments, the arms 122 may comprise an extendable boom (e.g., similar to the deployment device 160 discussed later) that can be translated along one axis of motion, or a device that can rotate and / or translate along one or more axes of motion. If the reachability of the first single mechanism (e.g., an arm) is insufficient, a second mechanism (e.g., a second arm, or some other device capable of moving or reorienting the pod 102) may optionally be implemented to move the pod 102 within the reachability of the first mechanism used to attach the pod 102 to the target spacecraft 20.

[0030] For example, pod 102 may be positioned on or within the structure of the spacecraft work device 100, within the reach of a robotic arm. If the reach of a single arm is insufficient, an optional second arm or other device may be used to move pod 102 within the reach of the other robotic arm used to attach pod 102 onto the target spacecraft 20.

[0031] In some embodiments, the pod 102 may be positioned on one or more detachable structures within reach of the robotic arm. When the pod 102 is depleted (e.g., completely depleted), the detachable structures can be detached from the spacecraft work device 100. In such embodiments, the fuel consumption of the spacecraft work device 100 can be reduced for subsequent rendezvous or work activities.

[0032] In some embodiments, pod 102 is connected to another device (e.g., a spacecraft work device) Pods 102 can be carried on a pod resupply device 30 launched with the spacecraft 20, and then, after launch, the pods 102 can be transferred to the spacecraft work device 100. For example, the spacecraft work device 100 may be used to pull the pod resupply device 30 to an Earth-synchronous orbit or other orbit, after which the vehicle can separate. The spacecraft work device 100 can dock with the pod resupply device 30 using a docking mechanism on the spacecraft work device 100 and complementary structures or devices on the pod resupply device 30. Once docked, a robotic arm on the spacecraft work device 100 can transfer one or more pods 102 from the pod resupply device 30 to a hoarding location on the spacecraft work device 100. In this way, the total mass of the spacecraft work device 100 is minimized for its repeated transits and rendezvous with the target spacecraft 20, thereby minimizing fuel consumption throughout the entire mission lifecycle. The pod resupply device 30 can be collaboratively controlled to be positioned at a desired orbital location for returning or resupplying the pod 102 by the spacecraft work device 100.

[0033] In some embodiments, as will be discussed later, pod 102 may use its own propulsion and / or power to change its orbit for the purpose of rendezvousing with satellite work device 100. Once it reaches the desired location, spacecraft work device 100 may capture pod 102 using a docking mechanism, robotic arm, or other functional parts present on spacecraft work device 100. Prior to capture, pod 102 may remain in an orbit close to satellite work device 100 or target spacecraft 20 to reduce transit time to target spacecraft 20.

[0034] As discussed above, a portion of System 10 (e.g., pod 102, spacecraft work device 100, and / or resupply device 30) may be coupled to another portion of System 10 or an external device (e.g., pod 102, spacecraft work device 100, and / or spacecraft 20), thereby allowing the device to be resupplied (e.g., replenished, resupplied, supplemented, etc.) with one or more consumables (e.g., fuel, gas, parts, etc.). In some embodiments, such supplies may be supplied into an additional external tank attached to the device and / or through a replacement (e.g., refueling) procedure using existing components.

[0035] A spacecraft will generally use propellant (e.g., xenon, hydrazine) to maintain positioning and pointing during its mission life. When this propellant is depleted, the mission life generally ends. In some embodiments, the spacecraft work device 100, pod 102, and / or resupply device 30 ("Fuel Supply Device") can provide additional propellant to another part of the system 10 or to an external device (e.g., pod 102, spacecraft work device 100, and / or spacecraft 20 ("Target Device")). In other embodiments, the fuel supply device may function to supply other fuels or fluids, such as a full tankful of high-pressure xenon, hydrazine, helium, nitrogen tetroxide (NTO), a low-toxicity propellant, a combination thereof, or any other suitable fuel. In some embodiments, the choice of propellant or fuel may be application-based for pod 102 (e.g., based on the configuration of spacecraft 20).

[0036] Figure 1B illustrates an embodiment of a fuel tank supply device 140 of a fuel supply device that may be implemented on one or more devices of system 10 (Figure 1A). As shown in Figure 1B, in some embodiments, tubing 142 on the fuel tank supply device 140 supplies fuel (e.g., high-pressure xenon) from the tank 141 to a regulator 143 (e.g., mechanical It can be supplied to a manual and / or electrical regulator. The regulator 143 can control the pressure to a level that can be used by the system of the target device (e.g., it can be reduced). Additional tubing 144 may be located downstream of the regulator 143 and connected to a mating adapter 145. The mating adapter 145 may be connected to a coupling device of the target device (e.g., a working port valve) that communicates with the fuel of the target device. In some embodiments, such a mating adapter 145 of the fuel supply device may have connecting accessories (e.g., quick-release accessories, cooperative working valves, and / or simple forms of mechanical working valves) for coupling to the tank of the target device. For example, such a mating adapter 145 may include a valve (e.g., a rotary valve or nut) for opening and closing the flow path. The mating adapter 145 may have a coupling member (e.g., a female coupling member) that can be attached to a coupling device (e.g., a valve port) of the target device (e.g., a complementary male coupling member).

[0037] In some embodiments, in coupling with a target device, the mating adapter 145 may be prepared by removing a cap or plug, and the target device may be prepared by removing any structure (e.g., a blanket and / or cap or plug). Once prepared, the mating adapter 145 may be mechanically attached to the working valve of the target device, one or more valves (e.g., on the target device or on the fuel tank supply device 140) may be opened, and the pressure may be monitored (e.g., pressure may be detected within the system of the target device). A drop in this pressure may indicate that there is an improper 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 is confirmed, the valve upstream of the mating adapter 145 may be moved to the open position, and the tank 141 will supply fuel to the tank of the target device. In embodiments where the tank 141 of the fuel tank supply device 140 lacks telemetry of pressure, the system of the target device may be used to monitor fuel usage for the purpose of determining whether the tank 141 of the fuel tank supply device 140 has reached a depleted state. When the tank 141 of the fuel tank supply device 140 approaches a depleted state, the tank 141 of the fuel tank supply device 140 may be disconnected by closing the opposing adapter 145 and the valve upstream of the target device, and a new tank may be connected to the target device (for example, by replacing the previous tank, which may be placed on the same fuel tank supply device 140, or on a different fuel tank supply device so as to allow the previous tank to be kept connected). The fuel tank supply device 140 may have a working valve 146 for pressurizing the system in an initial state, mechanical supports for the equipment and for mounting to the target device, attachments for gripping, and / or a passive thermal control device.

[0038] Figure 2A shows a simplified schematic diagram of an embodiment of the spacecraft work device 100 (for example, the spacecraft work device 100 in Figure 1A). As shown in Figure 2A, the spacecraft work device 100 has one or more deployable pods or modules 102 that are attached to the spacecraft work device 100 in its initial state. The spacecraft work device 100 may be a satellite or other spacecraft located in orbit around a celestial body.

[0039] To capture Pod 102, to deliver Pod 102 to another spacecraft, to attach Pod 102 to another spacecraft, and / or to recover Pod 102 to another spacecraft, the spacecraft work device 100 may have a chemical or other type of reaction engine, and / or an electrically powered propulsion system. For example, the spacecraft work device 100 may have one or more thrusters 1 The spacecraft work device 100 may have a power system having chemical and / or electrical propulsion sources (e.g., a fuel tank 106 containing xenon propulsion fuel and / or hydrazine propulsion fuel for an ion thruster) and a power processing unit 108. The propulsion system of the spacecraft work device 100 (e.g., having a thruster 104) may allow the spacecraft work device 100 to move within one or more axes of movement (e.g., a total of six axes of movement, with three axes of translation and three axes of rotation). The spacecraft work device 100 may include a solar array 110 (e.g., a detachable solar array), a battery 112, power regulating electronic components such as a power distribution assembly 114, a control subsystem 116 (e.g., command / 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., work parts and / or end effectors for a robotic arm, which will be considered later). These components can enable the spacecraft work device 100 to be maneuvered to a location near another spacecraft to be worked on.

[0040] To capture Pod 102, to deploy Pod 102 onto another spacecraft, to attach Pod 102 onto another spacecraft, and / or to retrieve Pod 102 to another spacecraft, the spacecraft work device 100 may have a deployment and / or detachment device (e.g., one or more movable arms (e.g., a robotic arm 122 having 1, 2, 3, 4, 5, or 6 degrees of freedom)), a lance and / or extendable deployment device (to be considered later) which can be coupled to a part of Pod 102 such as the internal parts of an engine, and this deployment and / or detachment device comprises an accompanying imaging system (e.g., a camera 124) and a control and power system (e.g., robotic avionics 126 and a power source 128). These devices and components may be used to engage (e.g., attach) Pod 102 on the spacecraft work device 100. For example, one or more of the robotic arms 122 may be coupled to one pod 102 (e.g., using an end effector) and used to move the pod 102 to the vicinity of a target spacecraft, to attach the pod 102 to the spacecraft, and to release the pod 102 after attachment.

[0041] In some embodiments, other devices and methods may be used to deliver the pod 102 to the spacecraft and / or to attach the pod 102 to the spacecraft. For example, the spacecraft work device 100 itself may be orientable with respect to the spacecraft for the purpose of positioning a selected pod 102 to make contact with the spacecraft, or the spacecraft work device 100 itself may be able to capture or otherwise hold the spacecraft while applying the pod 102, or the pod 102 may have one or more onboard systems for controlling and attaching the pod 102, or the spacecraft work device 100 may have individually controllable, reusable units comprising a propulsion unit control device configured to deliver the pod 102, or a combination of the above.

[0042] In some embodiments, the spacecraft work device 100 can deliver the pod 102 to the spacecraft, attach the pod 102 to the spacecraft, and / or retrieve the pod 102 into space without using a robotic arm. For example, with one or more pods 102 attached, the spacecraft work device 100 can rendezvous with the target spacecraft (e.g., using sensors to detect the position and / or orientation of the target spacecraft, as will be discussed later). While the pod 102 is attached to the spacecraft work device 100, the pod 102 coupling mechanism, which will also be discussed later, is deployed at the target spacecraft and can be attached to the target spacecraft. Engagement is possible. Pod 102 may be released from the spacecraft work device 100, and before, during, and / or after release, all remaining docking procedures for securing Pod 102 to the target spacecraft may be completed.

[0043] Regardless of the specific mechanisms or structures used to capture pod 102, deploy pod 102, attach pod 102, and / or recover pod 102, the spacecraft work device 100 may be configured to deliver pod 102 directly to the location of the target spacecraft using one or more parts of the spacecraft work device 100 (e.g., via mechanisms and / or structures). For example, the spacecraft work device 100 may capture pod 102, deploy pod 102, attach pod 102, and / or recover pod 102 using only deployment mechanisms and / or structures for deployment that are permanently located on (e.g., on a part of) the spacecraft work device 100 (e.g., a robotic arm 122, an extendable and / or expandable docking mechanism, etc.). In some embodiments, only the deployment mechanism and / or structural components permanently located on the spacecraft work device 100 are utilized, during which no steering devices (e.g., propulsion devices) on the pod 102 are utilized. For example, the pod 102 may be directly operated by the spacecraft work device 100, during which the pod 102 is not independently steered and / or operated to a location adjacent to the target spacecraft under its own power or propulsion. After being moved to a fixed position, the mechanisms and / or structural components of the spacecraft work device 100 (e.g., robotic arm 122, extendable and / or expandable docking mechanism) and / or structural components of the pod 102 (e.g., coupling mechanism, such as the deployment device 160) may be used to secure the pod 102 to the target spacecraft. In some embodiments, the pod 102 may be secured to the target spacecraft while maintaining at least partial contact with the spacecraft work device 100. For example, once pod 102 is in at least partial contact with the target spacecraft (e.g., secured), pod 102 may be released from the spacecraft work device 100.

[0044] In some embodiments, the spacecraft work device 100 has a sensor assembly (e.g., optical detection and ranging 132, infrared sensor 134, and / or visible light sensor 136) for rendezvous and proximity operations 130. Such components can enable the spacecraft work device 100 to monitor and / or detect other objects (e.g., pod 102, other spacecraft when work-related functions are being performed, etc.). For example, one or more of these sensors (e.g., optical detection and ranging 132, infrared sensor 134, and / or visible light sensor 136) can enable the spacecraft work device 100 to facilitate rendezvous and proximity operations relative to the target spacecraft 20 (Figure 1A) for the purpose of deploying, attaching, and / or removing pod 102 (Figure 1A).

[0045] 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) can enable the spacecraft work device 100 to detect one or more structures of the target spacecraft 20 (Figure 1A). For example, one or more of the sensors of the spacecraft work device 100 can detect docking structures of the target spacecraft 20 (e.g., docking mechanisms, mooring mechanisms, or coupling mechanisms) or other structures of the target spacecraft 20 (e.g., structural features) for the purpose of determining a method for attaching the pod 102 to the target spacecraft 20.

[0046] In some embodiments, the spacecraft work device 100 is the spacecraft work device 10 The device 100 can be reconfigured, at least partially, to facilitate operations performed by the device. For example, when coupled to the spacecraft 20 (Figure 1A) (e.g., when docked), the device 100 can rearrange various structures and / or components (e.g., struts used for docking with the spacecraft 20) (e.g., they can be housed or detached). These structures and / or components can be attached and detached by one or more tools (e.g., a robotic arm 122) and placed in a temporary storage location. These structures and / or components may be attached when the spacecraft work device 100 is docked to the target spacecraft 20 (e.g., even when performing work).

[0047] In some embodiments, a structure on the spacecraft work device 100 may be used to reconfigure other devices (e.g., the spacecraft). For example, one or more tools of the spacecraft work device 100 (e.g., a robotic arm 122) may be used to remove a structure that facilitates stacking a secondary payload on top of the spacecraft work device 100 after launch. In some embodiments, the spacecraft work device 100 (e.g., furthermore, an attached pod 102 (Figure 1A)) may be attached to an ESPA ring or some other suitable structure. After launch (e.g., in orbit), the robotic arm 122 may be able to detach the pod 102 and relocate it to a storage location, and furthermore, detach accessory structures used during launch disposal or temporary storage.

[0048] Figure 2B shows a simplified schematic diagram of an embodiment of a spacecraft work device 150 which may be substantially similar to the spacecraft work device 100 of Figure 2A, and the spacecraft work device 150 may have some, most, or all of the components of the spacecraft work device 100 as depicted. As shown in Figure 2B, the spacecraft work device 150 has a coupling mechanism 152 (e.g., a docking mechanism, a mooring mechanism, a holding mechanism, or other form of attachment mechanism) for coupling with other devices (e.g., other spacecraft such as spacecraft 20, a pod 102, a resupply device 30, etc.).

[0049] As discussed above, once the spacecraft is in orbit with the pod 102 as its initial supply, the spacecraft work device 100 moves from the target spacecraft 20 (Figure 1A) to the target spacecraft 20 in order to attach the pod 102. In some embodiments, additional control techniques may be employed to maintain an optimal position relative to the spacecraft 20 for the purpose of enabling the attachment of the pod 102 (e.g., by a robot). This optimal position may or may not be the center of the spacecraft 20 and may be a distance from the spacecraft 20 selected to provide space for the pod 102 and robot 122 to move onto the spacecraft. Data from the rendezvous sensor may be transmitted to a robot control computer on the spacecraft work device 100, so that the machine vision robot motion control algorithm can have prior information on the relative positions and motions of the two spacecraft.

[0050] Figures 2C to 2K illustrate various embodiments of the coupling mechanism according to one or more embodiments of the present disclosure. As shown in Figures 2C and 2D, the coupling mechanism 152 may include an expandable docking mechanism 160 (e.g., having a spear shape) configured to be received by a receiving portion of at least one of the spacecraft 20 (e.g., an engine 156) (e.g., a part of an engine, or any other part that can be mechanically coupled). The expandable docking mechanism 160 is guided to a fixed position by means of a spacecraft work device 100 (Figure 2A) alone, or by a robotic arm guiding the final docking, during which the spacecraft work device 100 is relative to the spacecraft 20. This will maintain its position. When in position, one or more expandable parts may be deployed and make contact with the receiving part 156, thereby securing the expandable docking mechanism 160 to the spacecraft 20.

[0051] Such expandable docking mechanisms 160 are disclosed, for example, in U.S. Patent Application No. 15,829,807, filed December 1, 2017, entitled “SYSTEMS FOR CAPTURING A CLIENT VEHLCLE,” the entire disclosure of which is incorporated herein by reference. For example, an expandable docking mechanism 160 may be inserted into the engine 156 of the spacecraft 20 as shown in Figure 2C. Once inserted into the engine 156, one or more portions of the expandable docking mechanism 1560 may be moved (e.g., expanded, extended) to make contact with the engine 156, thereby securing the expandable docking mechanism 160 to the engine 156 and thereby securing the pod 102 (Figure 1A) to the spacecraft 20. Before securing, during securing, and / or after securing, the expandable docking mechanism 160 may have an extendable arm that is retracted to position the pod 102 (Figure 1A) closer to the spacecraft 20.

[0052] As shown in Figures 2E and 2F, the docking mechanism 152 may include an expandable and / or retractable docking mechanism 162 (for example, having the shape of a chuck) configured to engage with a receiving portion 156 of the spacecraft 20. The docking mechanism 162 may be guided to a fixed position in a manner similar to that described above. Once in the fixed position, the docking mechanism 162 can be retracted or expanded, thereby securing the expandable docking mechanism 162 to the spacecraft 20.

[0053] As shown in Figures 2G and 2H, the coupling mechanism 152 may include a snare docking mechanism 164 (for example, having multiple wires, such as a mesh of metal wires, positioned at the opening of a cavity). The snare docking mechanism 164 may be guided to a fixed 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 the opening in the wires. Once in the fixed position, the snare docking mechanism 164 moves (for example, rotates) so that the opening defined by the wires is at least partially restricted by the wires, thereby securing the snare docking mechanism 164 to the spacecraft 20.

[0054] As shown in Figures 2I and 2J, the docking mechanism 152 may include a clamp-type docking mechanism 166 (for example, a three-point clamp mechanism having 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 to a fixed position in a manner similar to that described above. Once in the fixed position, the movable member of the docking mechanism 166 can move toward the fixed members, thereby securing the expandable docking mechanism 166 to the spacecraft 20.

[0055] As shown in Figure 2K, the docking mechanism 152 may include an inflatable clamp-type 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) configured to engage with a receiving portion 156 of the spacecraft 20. The docking mechanism 168 may be guided into position in a manner similar to that described above. Once in position, the inflatable bags (e.g., annular bags) or a plurality of inflatable bags (e.g., two opposing bags) can inflate, thereby securing the inflatable docking mechanism 168 to the spacecraft 20. In some embodiments, the bags may be filled with a fluid (e.g., a liquid) which solidifies at least partially to form a firm connection between the structures that is at least partial.

[0056] Figure 2L is a perspective view of a spacecraft work device 180, which may be similar to the device described above. As depicted, the spacecraft work device 180 has a body 182 with an ESPA ring, where the pods 102 are coupled around the body 182. Each pod 102 may have a coupling mechanism 184 for coupling to a target spacecraft 20 (Figure 1A) and an optional solar array 186. As described above, the coupling mechanism 184 may comprise a spear-shaped extendable device configured to engage with the engines of the target spacecraft 20.

[0057] Referring to Figure 1A, in an additional embodiment, structural parts of the pod 102 (e.g., struts or other frame members) may be used to dock with the spacecraft 20. For example, a robotic arm or other structural part (e.g., a non-robot method) first positions the pod 102 at a predetermined location depending on the geometry and structure of the spacecraft 20 and the geometry and structure of the components of the spacecraft 20 (e.g., separation rings). The spacecraft work device 100 can then dock with the spacecraft 20 using the structural parts of the pod 102. Once docking is complete, the structural parts of the pod 102 can be secured to the spacecraft 20 (e.g., by activating clamps, or by reinforcing the connection in other ways via electronic commands through a robotic interface or electromechanical drive forces from a robotic interface). Next, a portion of the spacecraft work device 100 (e.g., a robotic arm) can release the pod 102, allowing the spacecraft work device 100 to detach from the spacecraft 20, leaving the pod 102 attached to the spacecraft 20 (e.g., on a separation ring).

[0058] In an additional embodiment, a portion of the spacecraft work device 100 (e.g., a robotic arm) extends to the pod 102 to position the pod 102 on a portion of the spacecraft (e.g., a separation ring or other suitable mechanical structure of the spacecraft 20). Electronic commands to the pod 102 or the spacecraft 20 to activate a coupling mechanism or electromechanical drive on either device may then be used to secure the pod 102 in place on the spacecraft 20.

[0059] Referring to Figure 2A, in an example where a robotic arm is used to position pod 102, techniques related to the docking mechanism 166 can be employed such that the robotic arm 122, end effector, and / or other tools 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 initial contact and reinforcement (e.g., time to complete docking or other form of coupling), and providing some margin in the path. In some embodiments, passive and active electrostatic discharge (ESD) mitigation techniques from initial contact may be employed in the design of pod 102, robotic arm 122, spacecraft work device 100, and resupply device 30 to minimize or eliminate ESD from initial contact. Such ESD mitigation may be described, for example, as "ELECTROSTATIC DISCHARGE MITIGATION FOR A FIRST SPACECRAFT OPERATING IN PROXIMITY This is disclosed in U.S. Patent Application No. 15 / 829,758, filed on December 1, 2017, entitled “TO A SECOND SPACECRAFT,” the entire disclosure of which is incorporated herein by reference.

[0060] Referring to Figure 1A, when attaching the pod 102 onto the spacecraft 20, it may be desirable to make the connection between the spacecraft work device 100 and the spacecraft 20 as simple as possible. In some embodiments, during the attachment of the pod 102, the spacecraft 20 and the spacecraft 20 The ship's work device 100 may free-drift as a whole for a short time (e.g., a few seconds to a few minutes), during which time the attachment of pod 102 is established and the spacecraft work device 100 releases pod 102, disconnecting the mechanical connection between the two vehicles. The propulsion system of the spacecraft work device 100 may then be restarted, allowing the spacecraft work device 100 to retreat to a safe location. Immediately thereafter, the attitude control system of the spacecraft 20 may be restarted, as a result enabling the target spacecraft 20 to re-establish its positioning.

[0061] Referring to Figures 1A and 2A, in some embodiments, after docking, the pod 102 may be activated via, for example, ground commands to a transceiver in the pod 102, or electronic commands from the robotic arm 122, where timers and sensors (e.g., a break-wire timer or similar sensor) are used to allow the pod 102 to sense that it is not connected to any of the spacecraft work devices 100, the resupply device 30, or the robotic arm 122. In some embodiments, such sensors may have one or more mechanical limit switches that are activated when the mechanical activity for docking or mounting is completed.

[0062] In additional embodiments, pod 102 may be activated via a structure incorporated into the interface between the spacecraft work device 100 and pod 102. For example, a portion of the deployment device of the spacecraft work device 100 (e.g., a tool drive mechanism or end effector on the robotic arm 122) can assist in activating the attachment and / or deploying the attachment onto pod 102 in its initial state. Such a technique potentially simplifies the mechanism of pod 102 by utilizing the functionality of the robotic arm 122 of the spacecraft work device 100 (e.g., the end effector of the robotic arm 122) for performing the deployment and activation of pod 102 (e.g., acting only once on pod 102). The robotic arm 122, and / or its components and tools, can at least partially perform the assembly of pod 102 in orbit. For example, by using the robotic arm 122 to finally assemble the accessories to the pod 102, it is possible to simplify, lighten, and / or reduce the cost of packaging the components of the pod 102 for launch.

[0063] Figure 3 shows a simplified schematic diagram of an embodiment of a pod of the spacecraft work device 100 (e.g., the mission extension pod 102 in Figure 1A). As shown in Figure 3, the mission extension pod 102 has one or more devices for controlling (e.g., directionally moving) the pod 102 and any other structures attached to the main body 201 of the pod 102. For example, the pod 102 may have a chemical or other type of reaction engine, and / or an electrically powered propulsion system. In addition, the pod 102 may have a hybrid propulsion system (e.g., a chemical thruster, an electric thruster, or a cold gas thruster). The thruster assembly 200 may have any combination of thrusters. As depicted, one or more thrusters 202 (e.g., electric propulsion (EP) thrusters) may have one or more thrusters 202 (e.g., electric propulsion (EP) thrusters) attached to the pod 102 using movable (e.g., rotatable) coupling devices (e.g., gimbal 204 and boom 206). In some embodiments, the positioning of the thrusters 202 relative to the main body 201 may be selected based on one or more characteristics of the spacecraft to which the pod is attached (e.g., size, dimensions, mass, center of mass, combination thereof, etc.). In some embodiments, the thrusters 202 may have thrusters 202 that are moving outwards due to propellant fuel moving around in the propellant fuel tank. Relatively low acceleration can be achieved to minimize or eliminate disturbances.

[0064] The embodiment in Figure 3 shows one thruster assembly 200 on a single boom 206, but in other embodiments, the pod 102 may have multiple thruster assemblies on multiple booms (e.g., two, three, or more thruster assemblies, and accompanying booms). For example, two thruster assemblies may be mounted on two booms, where one thruster assembly is substantially a 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 sufficient system lifetime throughput capability and to reach a desired level of propulsion. For example, in embodiments where the pod 102 is configured to move on its own to a specific orbit, thrusters may be selected to perform orbital ascent operations along with subsequent maintenance procedures performed by the pod 102 after it has been coupled to the target spacecraft 20. In some embodiments, one or more thruster assemblies 200 do not have to be mounted on a boom and may be mounted directly on the pod 102. In some embodiments, a single thruster assembly 200 may be used for life-extending operations, including spacecraft repositioning, maintaining a stationary position, reducing the tilt angle, adjusting momentum, and / or disposal at the end of life (EOL). In some embodiments, each of multiple thruster assemblies 200 may be used for all life-extending operations, or they may be divided among different life-extending operations. For example, one or more thruster assemblies 200 may be mounted on one or more booms for the task of maintaining a stationary position, while one or more thruster assemblies 200 may be mounted on a pod for orbital repositioning, tilt angle reduction, and disposal at EOL.

[0065] In some embodiments, the antenna 208 may be positioned on the thruster boom assembly 200. In some embodiments, the antenna 208 may be positioned on a separate deployable boom. In some embodiments, additional solar cells for generating power may be positioned on the thruster boom assembly 200.

[0066] The pod 102 may have a power / propulsion system 210 having one or more power sources and associated components (for example, at least a portion of the power system may be an electric propulsion power system). For example, the power / propulsion system 210 may have one or more propulsion fuel tanks (for example, containing xenon propulsion fuel, or any other suitable propulsion fuel for an electric or chemical propulsion system), thrusters (for example, electronic thrusters), and associated power processing units. The pod 102 may have a solar array 212 and one or more batteries 214. In some embodiments, the solar array 212 may be rigidly coupled to the main body 201 or attached to a movable (e.g., rotatable) coupling device having one or more axes of motion for orienting the solar array 212 toward the sun (e.g., one or more gimbals 216 or other movable joints and booms 218 such that movement is achieved around one, two or more axes).

[0067] In some embodiments, a solar array 212 with a gimbal can offer several advantages compared to an array without similar flexibility. For example, a solar array 212 with a gimbal allows the solar array 212 to be detached / separated from the thrusters of the target spacecraft 20, thereby enabling the target spacecraft 20 to maintain its orbit with minimal concern about its thrusters encroaching on the solar array of the pod 102. A solar array 212 with a gimbal can further enhance the effectiveness of the solar array 212 by allowing the pod 102 to be thermally separated from the target spacecraft 20, enabling it to track the sun. The improved effectiveness of the gimbal-equipped solar array 212 allows the thrusters of pod 102 to operate for longer periods and enables the use of smaller, lighter, and less expensive batteries. A longer-lasting propulsion system can facilitate operations on heavier target spacecraft 20. In some embodiments, the gimbal-equipped solar array 212 can be articulated to the in-orbit target 20 in a way that conserves momentum (for example, in a way that net no momentum is contributed).

[0068] In some embodiments, the solar array 212 may track the sun using logic stored in pod 102 while the sun-lit portion of the satellite is working, with the aim of maximizing the power generation of the solar array 212 and thereby minimizing the size of the solar array 212 and the battery. In some embodiments, the movement of the solar array 212 may be restricted, for example, with the aim of simplifying the mechanical design and eliminating or minimizing the spacecraft array being covered in shadow, thruster plumes colliding with pod 102 and / or spacecraft 20, sensors or antennas interfering with pod 102 and / or spacecraft 20, or other system constraints occurring. In some embodiments, the solar array 212 may have two separate wings having one or two axes of motion. In some embodiments, the solar array 212 having a gimbal may have one axis of motion configured to resist the rotation of pod 102.

[0069] In some embodiments, the solar array 212 is oriented to track the sun to provide sufficient power to the propulsion system, thereby enabling continuous electric thrust propulsion for orbital correction of the pod 102 when it is not attached to the host spacecraft 20 or the work spacecraft 100.

[0070] Embodiments of pod 102 can provide work for the spacecraft in a relatively physically small package and low footprint to the spacecraft vehicle 20 (Figure 1A) by using low-power (e.g., electric) propulsion systems such as ion thrusters with grids, Hall effect thrusters, colloidal thrusters / field effect thrusters, arcjets, and resistjets. Such electric propulsion systems can generate the amount of thrust required over a selected time for one or more thrusts to adjust the positioning of the spacecraft 20 (e.g., two thrusts in 24 hours), where each thrust lasts for a selected time. In some embodiments, pod 102 may be positioned on the side facing the zenith of the spacecraft and the solar array 212 of pod 102 (e.g., opposite the Earth), thereby allowing it to receive unobstructed sunlight for at least 12 hours a day. In some embodiments, one thruster firing may occur while the solar array 212 of pod 102 is fully illuminated, while a second thruster firing occurs while the solar array 212 of pod 102 is completely obscured by the spacecraft body.

[0071] In some embodiments, each thruster firing during a 24-hour period may occur while the solar array 212 of pod 102 is obscured by the body of the spacecraft 20. In some embodiments, each thruster firing during a 24-hour period may occur while the solar array 202 of pod 102 is fully illuminated. A battery (e.g., a lithium-ion battery, battery 214) may be used to store energy during times when pod 102 is exposed to sunlight, and battery 214 may be sized to support bus power draw and even thruster firing power for pod 102 during times without sunlight. In one embodiment, thruster injection is performed using a chemical thruster.

[0072] In some embodiments, the propulsion fuel of the pod 102's power and / or propulsion system 210 may have an amount of propulsion fuel to support the maintenance of the spacecraft 20 (Figure 1A) in a stationary position (e.g., required maneuvering and momentum adjustment) over a selected period (e.g., at least several years) (e.g., about 25 kg, 50 kg, 100 kg, 150 kg, or more). In some embodiments, the propulsion fuel may have an additional amount of propulsion fuel to facilitate the delivery of the pod 102 from its initial launch insertion orbit to its intended orbit using the pod 102's power and / or propulsion system. The pod 102 may be filled with propulsion fuel before launch, thus eliminating the need for propulsion fuel transfer after entering orbit. If the spacecraft 20 requires repositioning to a different orbital location to continue its operational life, or if it is approaching the end of its operational life, the propulsion schedule and position of the pod 102 may be adjusted to produce a velocity change in the direction of the spacecraft 20's orbital velocity, for the purpose of moving the spacecraft 20 to a different orbit, a different orbital position, or a combination thereof, for the purpose of extending its operational life or decommissioning it at the end of its life.

[0073] In some embodiments, the fuel or propulsion of pod 102 may be used to perform work on the spacecraft 20 without relying on one or more systems of the spacecraft 20. For example, only the propulsion of pod 102 may be used to perform work on the spacecraft 20 (e.g., steering and / or adjusting at least one momentum, including the attitude of the spacecraft 20).

[0074] Referring to Figures 1A and 3, in some embodiments, the fuel tanks 24 of the spacecraft 20 may be bypassed (e.g., not utilized) to perform work on the spacecraft 20. For example, the propellant fuel of pod 102 (e.g., supplied from tank 141 in a configuration similar to that shown in Figure 1B, or supplied from the tanks of the propulsion system 210 of pod 102) may be supplied to a portion of the propulsion fuel system 22 of the target spacecraft 20 (e.g., supplied directly) (by bypassing the fuel tanks 24 of the spacecraft 20). In such embodiments, the propellant fuel of pod 102 may be used to perform work on the spacecraft 20 without transferring the propellant fuel to the tanks 24 of the spacecraft 20 (e.g., refueling) (e.g., via a refueling procedure). For example, the propellant fuel of pod 102 may be in communication with a portion of the fuel system of the spacecraft 20 (e.g., via fluid communication through a coupling mechanism 152, a paired adapter 145 (Figure 1B), etc.). In some embodiments, such existing connections may be present on the spacecraft 20. In some embodiments, one or both of the spacecraft work device 100 and the pod 102 may be attached to at least a portion of the connections on the spacecraft 20.

[0075] The propellant fuel from pod 102 may be transferred into the propulsion fuel system 22 of the target spacecraft 20, and one or more thrusters of the propulsion fuel system 22 may be used, for example, to perform operations on the spacecraft 20 (e.g., steering, and / or adjusting at least one of the orbit, velocity, or momentum of the spacecraft 20).

[0076] In some embodiments, the pod 102 does not need to have a propulsion device for moving the pod 102 independently. In some embodiments, the pod 102 can have a relatively small total mass, such as less than 700 kilograms (kg) (for example, less than 600 kg, less than 500 kg, less than 400 kg, less than 350 kg, less than 300 kg, less than 200 kg, less than 100 kg, or less).

[0077] In some embodiments, the pod 102 is configured to remain permanently on the spacecraft 20 and not be recovered or replaced. In some embodiments, the pod 102 can be detached from the spacecraft 20 and used on another client spacecraft. In some embodiments, the pod 102 can be detached from the spacecraft 20, refueled by a spacecraft work device 100 or a resupply device 30, and reattached to the spacecraft 20. In some embodiments, the pod 102 can be detached from the client spacecraft 20, and its propulsion system can be used to correct the pod's trajectory for subsequent rendezvous with and capture by the spacecraft work device 100.

[0078] Pod 102 may have a power control device (e.g., a power control device 220 on a single circuit board) and a flight control device (e.g., an avionics control device 222 on a single circuit board), which are mounted on any appropriate type and any appropriate number of electronic devices. In some embodiments, redundant devices (e.g., circuit cards, avionics, thrusters, sensors, actuators, or other components) may be included in Pod 102 to improve the reliability, lifespan, and / or throughput of Pod 102.

[0079] Pod 102 may have a communications subsystem 224 that communicates with or is in communication with antenna 208 and transceiver (XCVR) (e.g., radio frequency (RF)). The communications subsystem 224 of Pod 102 may be designed to operate with commercially available communications services that use intermittent contact rather than continuous contact. In some embodiments, one or more additional antennas are included at one or more suitable locations on Pod 102 as shown in Figure 3, for the purpose of establishing omnidirectional communication coverage with Pod 102. In this context, communication coverage may be established when the boom is directed to propel itself in one direction when the boom antenna is not facing Earth. In some embodiments, one or more additional antennas provide a communications link to Pod 102 when it is not connected to the resupply device 30, host spacecraft 20, or satellite work device 100, for example, when Pod 102 is free-flying and using the thruster 202 on the boom to correct Pod 102's orbit.

[0080] In some embodiments, a communication device in pod 102 (e.g., a communication subsystem 224) can receive data relating to at least one of the orbit or velocity of the target spacecraft 20 (Figure 1A) (e.g., relating to the momentum of the spacecraft 20). Such data can be transmitted to pod 102 from a location far from pod 102 through one or more communication channels or otherwise (e.g., directly or indirectly via ground stations, satellite relays, direct transmissions, and / or direct electrical connections from the target spacecraft 20, etc.). Such data may include calculations for relevant thrusts, and / or the systems in pod 102 can perform thrust calculations based on the data. In some embodiments, telemetry data can be provided from the target spacecraft 20 to pod 102 directly or indirectly via ground stations (e.g., via radio frequency links). In some embodiments, telemetry data can be provided to pod 102 directly or indirectly from one or both of the target spacecraft 20 and the spacecraft work devices 100, or from ground stations.

[0081] In some embodiments, telemetry data may be updated at select intervals within a closed-loop system, and subsequent injections may be calculated based on the updated data. In some embodiments, a predetermined injection schedule is set for pod 102 or system 10 It may be provided in another part.

[0082] In some embodiments, pod 102 incorporates onboard functions including any appropriate technology for determining the range, position, and / or velocity of pod 102 when it is in orbit. In some embodiments, the communications subsystem 224 of pod 102 may provide ranging capabilities so that the orbital location of pod 102 can be precisely determined using standard ranging techniques with ground systems. In some embodiments, pod 102 may incorporate an onboard GPS transponder that provides the precise orbital location and velocity of pod 102, whether pod 102 is in free flight, attached to the satellite work device 100, or attached to the host spacecraft 20. In some embodiments, pod 102 may utilize optical orbit determination (e.g., via a camera or other appropriate device). In some embodiments, orbital range data, position data, and / or velocity data are used on the ground by an operator (e.g., a worker and / or computer) via the communications subsystem 224 to calculate a new thruster firing schedule to be updated for the pod. In some embodiments, a computer onboard pod 102 uses orbital position data and velocity data to calculate a new thruster firing schedule. In some embodiments, the thruster firing schedule calculated on the ground or in the pod may be used to correct the pod's orbit when it is attached to the host spacecraft 20 for the purpose of extending its lifespan or correcting its orbit. In some embodiments, the thruster firing schedule calculated on the ground or in the pod is used to correct the pod's orbit when it is not attached to the host spacecraft 20 or the satellite work device 100.

[0083] In some embodiments, pod 102 can use its orbital position data and velocity data generated in-vehicle, in combination with data updated on the ground or data generated by sensors on pod 102, for the purpose of calculating a thruster firing schedule used to correct the pod's position and orientation relative to another object in orbit. In various embodiments, pod 102 can correct its position or orientation relative to another object in orbit for the purpose of rendezvousing with satellite work device 100, avoiding collisions with other objects orbiting, performing orbital holding for maintaining a stationary position relative to another pod 102, satellite work device 100, or another object in orbit, and, if attached to the host spacecraft 20, performing the task of maintaining the stationary position of the host spacecraft 20 relative to one or more other objects in orbit.

[0084] In some embodiments, the pod 102 does not need to have any independent system for determining telemetry data of the pod 102 and / or the target spacecraft 20 (e.g., velocity, altitude, momentum, position, orbit, etc.), and may need to rely on an external source for such information (e.g., the target spacecraft 20, a ground station, or a work mothership device 100).

[0085] Pod 102 can store telemetry data over a set period (e.g., 8 to 12 hours) and return this data to the communications network when polled based on a selected schedule (e.g., 2 or 3 times a day). The overall dataset may be relatively small, thereby reducing the contact time relatively and resulting in a low-cost footprint in operating a large number of pods 102 over a multi-year period. In some embodiments, pod 102 may be positioned on the side of the target spacecraft 20 (Figure 1A) that is not facing Earth. To provide a line of sight to ground station antennas and / or communications services orbiting in orbit, The receiver antenna 208 may be positioned on the same boom supporting the thruster assembly 200, thereby providing a clear line of sight. Given a relatively reasonable gain antenna 208, along with a geosynchronous orbit range and the inherently low-power components of pod 102, pod 102 transmits and replies data at a relatively low data rate (e.g., less than 1 kb / s, less than a few kb / s, etc.). Thus, pod 102 can receive a limited set of commands to adjust its propulsion schedule and boom pointing to conform to adjustments specified by the spacecraft operator for the spacecraft 20 from Earth.

[0086] In some embodiments, one or more parts of system 10 (Figure 1A) (e.g., pod 102) may utilize a flexible frequency transceiver, which may enable pod 20 to communicate with a ground station associated with spacecraft 20. By using a flexible frequency transceiver and existing ground systems for spacecraft 20, pod 102 does not require any additional periodic agency licensing or third-party work to establish command and telemetry connectivity between pod 102 and the ground station for spacecraft 20. This allows the operator of spacecraft 20 to establish control (e.g., full control) of pod 102 with relatively minimal additional investment, with little to no periodic disclosure or licensing required. Given that the market base of target spacecraft 20 includes a relatively large number of spacecraft 20 that utilize C-band or Ku-band RF frequencies for communication, the launched pod 102 may be configured to have a C-band or Ku-band transceiver. Pre-launch adjustments can establish a ratio of pods 102 equipped with C-band or Ku-band communication systems, which are launched by initial capability or within a resupply spacecraft. If the target spacecraft 20 does not utilize C-band or Ku-band communication, the pods 102 may be configured to implement a type of communication system substantially compatible with the communication system of the target spacecraft 20, or C-band or Ku-band pods 102 may be used with a target spacecraft 20 having different types of communication systems. In some embodiments, the pods 102 can store their telemetry data over a selected period (e.g., 8 to 12 hours) and this data can be returned to the communication network when polled (e.g., 2 or 3 times a day).

[0087] In some embodiments, the flexible frequency transceiver can enable pod 102 to connect to a variety of target spacecraft 20 because its frequency can be modified based on the target spacecraft 20 in orbit (for example, to utilize unused portions of one or more frequency bands used by the target spacecraft 20). In some embodiments, the flexible frequency transceiver included in pod 102 enables avoidance of frequency interference between multiple nearby pods and / or between pod 102 and other nearby spacecraft. Such a functional unit enables pod 102 to maintain efficient non-interfering communication with the ground when pod 102 is not attached to the satellite work device 100, the resupply device 30, or the host spacecraft 20.

[0088] In some embodiments, the interspace command and telemetry link between pod 102 and the spacecraft work device 100 may be implemented to utilize the relatively high gain and power of the spacecraft work device 100 to connect pod 102 to the ground systems of the spacecraft 20. In some embodiments, this technique may be employed when the spacecraft work device 100 is in very close proximity to pod 102 and / or only when ad-hoc adjustments may be required due to the thruster firing schedule of pod 102. This may be employed when the spacecraft work device 100 is to be installed for long-term operations (for example, adjustments may be performed weekly, monthly, or at longer intervals).

[0089] In some embodiments, the communication system of pod 102 may use transceivers designed to take advantage of the proximity of pod 102's antenna to the uplink antenna of spacecraft 20, thereby sending spread spectrum telemetry signals from pod 102 into the uplink of spacecraft 20. These signals then receive a high gain boost from the communication system of spacecraft 20, thereby transmitting telemetry data from pod 102 to the ground.

[0090] Various communication systems within pod 102 disclosed herein can enable near real-time monitoring of pod 102's functions and the results achieved by pod 102, where only the speed of light from Earth-synchronous orbit to the ground causes a time lag. Such a configuration can enable pod 102 to perform multiple functions (e.g., the functions described above), where these functions can return performance data to the ground station. Furthermore, software within the ground station, and even within the target spacecraft 20 or pod 102, can be used to "close the loop" with a time lag of the speed of light, so that data from pod 102 or the target spacecraft 20 can be delivered into the software associated with the target spacecraft 20 or pod 102 in order to control the target spacecraft 20. In some embodiments, pod 102 does not need to communicate directly with the spacecraft 20, which is its host, and may communicate with the spacecraft 20 via the ground station with a round-trip time lag of the speed of light. In such embodiments, it is possible to "close the loop" in the case of complex functions that can be implemented in a manner in which pod 102 performs work on the spacecraft. For example, this complex function may include the ability to manage the three-axis momentum of spacecraft 20 using the thruster assembly 200 of pod 102 by gimbal control logic in ground software or pod software that uses telemetry data from spacecraft 20.

[0091] To deploy and attach pod 102 onto another spacecraft 20 (Figure 1A), pod 102 may have attachment structures configured to attach to the spacecraft 20 (e.g., a coupling mechanism 226 configured to do one or more of the following: docking with the target spacecraft 20, mooring to the target spacecraft 20, attaching to the target spacecraft 20, holding the target spacecraft 20, or a combination thereof), and / or one or more coupling structures (e.g., a gripping mechanism 228) that can be engaged by structures of a spacecraft work device 100 (Figure 2A) (e.g., a robotic arm 122). The coupling mechanism 226 may be movably mounted on the main body 201 (e.g., using a gimbal 230).

[0092] In some embodiments, the thruster assembly 200 of the pod 102 may be positioned on a multi-axis actuator system (e.g., defined by multiple gimbals and / or translation or rotation devices). For example, gimbal 204 may be configured to move the thruster assembly 200 in a first axial direction, and gimbal 205 may be configured to move the thruster assembly 200 in a second axial direction which is perpendicular to the first axial direction. In some embodiments, gimbals 204, 205 may be arranged at the thruster assembly 200. In some embodiments, gimbals 204, 205 may be separated by booms. The pod 102 may have a third gimbal 230 for positioning gimbals 204, 205 relative to the spacecraft body (e.g., to rotate the main body 201 relative to the spacecraft 20 (Figure 1A)). In some embodiments, the pod 102 may have a third gimbal 230 located near gimbal 204 (e.g. (For example, between the main body 201 and the boom 206). Such a third gimbal 230 can work in cooperation with gimbals 204 and 205 to obtain three degrees of freedom (for example, three rotational degrees of freedom).

[0093] In some embodiments, the gripping mechanism 228 may be separated from the main body 201 by one or more structures 232 to facilitate coupling with the robotic arm 122 of the spacecraft work device 100 (Figure 2A).

[0094] The pod 102 may have a mechanism used to secure it to the spacecraft work device 100 (Figure 2A). For example, the pod 102 may have a housing mechanism 234 (for example, structure 232 which can be separated from the main body 201) that is coupled to a portion of the spacecraft work device 100. In other embodiments, one or more of the existing structural components described above (e.g., coupling mechanism 226 and / or gripping mechanism 228), or another structural component, may be used to secure the pod 102 to the spacecraft work device 100.

[0095] As discussed above, pod 102 may be configured to cause a change in orbital velocity for spacecraft 20 (Figure 1A) (e.g., maintaining a stationary position, repositioning, or decommissioning at end-of-life) while it is separated from (e.g., unconnected to) the control system of spacecraft 20. In other words, only pod 102 can alter the path (e.g., orbit) of spacecraft 20 while it is attached to spacecraft 20 but not connected to the control system of spacecraft 20. The velocity change may be caused by thrusters 202 (e.g., ion thrusters, Hall current thrusters, ion thrusters with grids, Hall effect thrusters, or any other suitable type of electric or chemical thruster that produces any level of thrust).

[0096] In some embodiments, as discussed above, the pod 102 can function at least partially as an auxiliary fuel tank (e.g., a tank for high-pressure xenon, hydrazine, helium, nitrogen tetroxide (NTO), a low-toxicity propellant, a combination thereof, or any other suitable fuel) coupled to the spacecraft 20 (Figure 1A) (e.g., on the outside of the spacecraft 20). For example, the pod 102 may have one or more such tanks within the power and propulsion system 210. In other embodiments, as will be discussed later, the pod 102 may consist only of a fuel tank with accompanying components configured to attach the tank to the spacecraft 20 and communicate the tank with the spacecraft.

[0097] In some embodiments, the pod 102 may consist substantially only of an auxiliary tank system and may not have a significant portion of the components described above, or may not have any of the components described above. Such an auxiliary tank system pod 102 may have a working valve for pressurizing the system in an initial state, mechanical supports for the equipment and for mounting to the spacecraft, attachments for gripping, and / or a passive thermal control device. In some embodiments, a deployment device (e.g., a robotic arm) may be used to position the auxiliary tank system pod 102 to its destination, and the destination may be collaboratively designed to host the tank or not host the tank. The target spacecraft 20 for this transfer tank system pod 102 may have a collaboratively designed interface for the transfer of gases and fluids, or if the spacecraft 20 does not have such an interface, the auxiliary tank pod 102 may have an interface configured to accommodate attachments of various sizes and configurations on the spacecraft 20.

[0098] Figure 4 shows the first configuration 300 having the direction 301 of the first propulsion vector, and This is a simplified schematic diagram of a pod 102 attached to a spacecraft 20 in a second configuration 302 having a second thrust vector orientation 303. Referring to Figures 3 and 4, gimbals 204, 205, 230 can provide a select number of degrees of freedom (e.g., 2 degrees of freedom, 3 degrees of freedom) for directing the thrust vector to pass through the center of mass of the spacecraft 20. Propulsion can be triggered by command (e.g., from a distant ground station) and / or by schedule (e.g., a predetermined schedule and / or a schedule actively transmitted to the pod 102) based on the initial position of the spacecraft 20 in orbit, and can reduce or even eliminate the load in maintaining a stationary position and in removing momentum from the subsystems of the spacecraft 20. In some embodiments, the magnitude of the thrust and / or the thrust vector can be transmitted to the pod 102 via a communication link to the pod 102 at any desired schedule.

[0099] As shown in the first configuration 300 (e.g., 3 rotational degrees of freedom) of gimbals 204, 205, 230 that realizes the first thrust vector direction 301, the thrust can be applied primarily in the south direction, that is, in a direction not perpendicular to the spacecraft orbit direction. Similarly, as shown in the second configuration 032 of gimbals 204, 205, 230 that realizes the second thrust vector direction 303, the thrust can be applied primarily in the north direction, or in a direction perpendicular to the spacecraft orbit direction. As shown in Figure 4, each configuration can have components of the thrust vector in the positive and negative directions of orbital velocity. As shown in Figure 5, the thrust vector in each configuration (e.g., the south-facing configuration and the north-facing configuration) can further have a component of significant magnitude in the radial direction of the spacecraft orbit. Slight changes in thruster vectors and burn durations, controlled by commands (e.g., from a remote ground station) and / or by schedules (e.g., predetermined schedules and / or schedules actively transmitted to pod 102), are used to maintain the stationary position of the spacecraft 20 and to adjust its momentum, as will be discussed later. In some embodiments, the thrust vectors may be applied to various locations around the spacecraft at various times while in orbit, thereby optimizing the control of the spacecraft's orbital elements and the management of its momentum.

[0100] This additional propulsion from Pod 102 can reduce the rate of propulsion fuel consumption from Spacecraft 20 by, for example, more than 90%, and up to 100%, thereby extending Spacecraft 20's mission life.

[0101] Considering that, generally, thrust cannot be provided in a single launch duration (i.e., burn) to completely eliminate drift of the orbital elements of the spacecraft 20, during each single thruster launch duration, the pod 102 can induce a small velocity relative to the spacecraft 20 that has directionality in one or more orbital directions (e.g., radial, perpendicular, non-perpendicular, and planar directions of the orbit), and furthermore, control of all orbital elements of the spacecraft 20 can be achieved by combining multiple launch durations. For example, a propulsion schedule for the pod 102 can be planned for a selected interval in a single orbital orbit (e.g., two 12-hour durations in a day), and for various orbital orbits with durations of one week, two weeks, three weeks, one month, or longer. Such a schedule can realize a combination of thrust burn and accompanying gimbal angle, thereby causing velocity changes, which control some or all orbital elements, and furthermore, adjust the momentum of the spacecraft together with or independently of the velocity changes.

[0102] Figure 5 shows another simplified representation of the pod 102 attached to the spacecraft 20 (for example, rotated 90 degrees from the one in Figure 4) in a first configuration 304 having a first thrust vector direction 305 and a second configuration 306 having a second thrust vector direction 307. A schematic diagram is provided. Referring to Figures 3 and 5, gimbals 204, 205 can provide two degrees of freedom for directing thrust vectors 305, 307 so as to pass through the center of mass 158 of the spacecraft 20. As depicted, a propulsion schedule for the pod 102 can be planned for two periods of 12-hour intervals in a day (or for any interval that provides the desired result for the target spacecraft 20). Such a schedule can realize the combination of thrust burns 305, 307, thereby causing velocity changes that can cancel each other out or be used to control the eccentricity of the spacecraft's orbit.

[0103] In some embodiments, propulsion commands and / or schedules can be created and transmitted to the pod 102, thereby achieving a desired orbit, position, and / or velocity for the spacecraft 20, at least in part, based on the characteristics of the spacecraft 20.

[0104] In some embodiments, the coupling portion 310 of the pod 102 (including a docking mechanism, such as the expandable docking mechanism 160 discussed above) may have a movable (e.g., rotatable) joint. For example, the rotatable coupling portion 310 may allow the pod 102 to be fixed to the target spacecraft 20 while enabling the pod 102 to rotate relative to the target spacecraft 20 (for example, by welding it to a portion of the target spacecraft's engine 314). Such a configuration makes it possible to obtain degrees of freedom for the thruster boom arm 312 (for example, eliminating the need for a separate movable joint such as a third gimbal 230 (Figure 3), and further eliminating the need for two or more thruster gimbal assemblies).

[0105] Figure 6 is a simplified schematic diagram of a resupply device for a spacecraft work system (e.g., resupply device 30 for spacecraft work system 10 (Figure 1A)). As shown in Figure 6, the resupply device 30 may have a plurality of pods 102 that are attached to or housed within a structure 400 (e.g., an ESPA ring). In some embodiments, each pod 102 may have its own mounting mechanism 401 for coupling to the structure 400. The structure 400 may have a plurality of coupling devices. These are, for example, a first coupling device 402 and a second coupling device 404 for connecting to one of the observation instruments of the launch vehicle or to the launch vehicle itself. The structure 400 may have a bus 406 comprising one or more spacecraft systems, for the purpose of controlling the resupply device 30, monitoring the resupply device 30, powering the resupply device 30, etc. The structure 400 may have a gripping structure 408 configured to be coupled to another part of the system 10 (Figure 1A) (for example, the spacecraft work device 100 (Figure 2A)). For example, the gripping structure 408 may have a structure to which the robotic arm 122 of the spacecraft work device 100 can be coupled (Figure 2A). In some embodiments, the structure of the resupply device 30 may have a separation ring and / or a similar structure to the spacecraft engine (for example, a structure having a similar shape and / or configuration) so that the spacecraft work device 100 can be docked to them.

[0106] In some embodiments, the structure of the resupply device 30 may be passive as a whole (e.g., an ESPA ring without an active spacecraft bus system 406 or gripping structure 408). In such embodiments, the pod 102 may be released from the resupply device 30 when it is in some orbit other than the orbit of the spacecraft work device 100. The pod 102 may be released from the resupply device 30 for power service, thermal service, or data service. It cannot receive any service. For example, pod 102 may be powered before or during launch, or powered until it is released from the resupply device 30. It is not necessary to be paid.

[0107] Figures 7 to 10 illustrate various embodiments of a spacecraft work device having multiple pods coupled to a spacecraft work device, according to one or more embodiments of the present disclosure. As shown in Figure 7, the spacecraft work device 500 may be defined by one or more annular structures 502 (e.g., two ESPA rings stacked on top of each other in the axial direction). Pods 102 may be coupled around the annular structures 502 (e.g., as a stack of at least two pods 102). For example, a pod 102 may be coupled to each port defined around the annular structures 502. A tool (e.g., a robotic arm 506) may be coupled to one of the annular structures 502 (e.g., to a radially extending surface on one side of the annular structure 502).

[0108] As shown in Figure 8, the spacecraft work device 500 may have pods 102 of different configurations coupled around the annular structure 502. For example, a pod 102 may be coupled to each port defined around the annular structure 502. A second row of pods 102 may be coupled to each pod 102 positioned next to the annular structure 502 (e.g., adjacent to and / or coupled to the annular structure). Another set of pods 102 may be positioned between (e.g., coupled to) two sets of pods 102 extending from the annular structure 502. In some embodiments, a clearance of a selected size may be provided between the pods 102 (e.g., no clearance may be present). In some embodiments, the outermost pods 102 may be configured to be positioned within the diameter of a portion of the launch vehicle (e.g., the fairing of the observation instrument), to extend up to this diameter, or to extend beyond this diameter.

[0109] As shown in Figure 9, the spacecraft work device 500 may have pods 102 of different configurations coupled around the annular structure 502. For example, a pod 102 may be coupled to each port defined around the annular structure 502, but spaced apart from each port. A second row of pods 102 may be arranged adjacent to (e.g., coupled to) each pod 102 positioned next to the annular structure 502. Another set of pods 102 may be positioned between (e.g., coupled to) two sets of pods 102 extending from the annular structure 502.

[0110] As shown in Figure 10, the spacecraft work device 500 may have pods 102 of different configurations coupled around the annular structure 502. For example, a selected number of pods 102 (e.g., three pods 102) may be coupled to each port defined around the annular structure 502. A second row of pods 102 may be arranged adjacent to (e.g., coupled to) each pod 102 positioned next to the annular structure 502. Another set of pods 102 may be positioned on either side of (e.g., coupled to) each pod 102 positioned next to the annular structure 502.

[0111] Figure 11 depicts another configuration of the spacecraft work device 10, which may be similar to the configuration discussed above and may include various structural components and operations of the structure discussed above. However, the configuration of Figure 11 may have one or more free-flying pods 102 configured to be deployed in orbit (for example, deployed from Earth by a carrier spacecraft or launch spacecraft 50 or structure which may be similar to or the same as the spacecraft work device 100 and / or resupply device 30 discussed above), transported to the target spacecraft 20 (for example, under the power of the pod 102 or by another spacecraft), and then to work on the target spacecraft 20 (for example, by being coupled to the target spacecraft 20).

[0112] As shown in Figure 11, the system 10 may have a host ship or transport ship (e.g., a carrier spacecraft 50) that delivers one or more pods 102 to a first initial orbit that is different from (e.g., lower than) a desired final orbit, such as a substantially Earth-synchronous orbit. For example, the initial orbit may be partially surrounded by or within an Earth-synchronous orbit (e.g., most of the initial orbit is closer to Earth compared to most of the Earth-synchronous orbit). In some embodiments, the initial orbit may include a low Earth orbit (LEO), a medium Earth orbit (MEO), a polar geostationary orbit, a cislunar orbit, or other orbits.

[0113] As discussed above, in some embodiments, the pod 102 may have a propulsion system for independent movement (e.g., movement from the carrier spacecraft 50 to a location close to the target spacecraft 20, or to another spacecraft configured to deliver the pod 102 to the target spacecraft 20). In other embodiments, the pod 102 may not have its own propulsion system at all, or may not have a propulsion system for moving the pod 102 independently of another spacecraft (e.g., all thrust for the pod 102 may be for adjusting the trajectory of the target spacecraft 20, and not for independent movement).

[0114] In some embodiments, the pod 102 can utilize its onboard functional components to correct its orbit after it has been released from the carrier spacecraft 50 (for example, as described above or below), where the pod 102 is pre-positioned to be captured by the same or another spacecraft (e.g., satellite work device 100, carrier spacecraft 50, resupply spacecraft 30) such that at this point it is closer to the target spacecraft 20 (e.g., closer to Earth-synchronous orbit) compared to the location where the carrier spacecraft 50 was located when the pod 102 was delivered to a first initial orbit. In embodiments where the pod 102 does not have a system or device for pre-positioning, another spacecraft (e.g., spacecraft work device 100 or resupply device 30) can retrieve the pod 102 from its initial orbit and transport it to a substantially Earth-synchronous orbit.

[0115] In some embodiments, the pod 102 may be pre-positioned by one or more of the following methods: positioning the pod in a common location where the satellite work device 100 can collect the pod 102 (for example, substantially simultaneously) with relatively small orbital changes; pre-positioning the pod in an unused orbital location where there are no frequency usage constraints and therefore the likelihood of collision with other resident space objects or debris is low; and / or pre-positioning the pod 102 close to the intended client spacecraft 20 in order to minimize orbital changes of the satellite work device 100 during the process from the capture of the pod 102 to the attachment of the pod 102 to the client spacecraft 20.

[0116] In some embodiments, pods 102 may be used to deliver observation instruments to the satellite work device 100. Before launch, one or more pods 102 may have one or more observation instruments 101 (e.g., robotic arms) attached to or integrated with the pods 102, intended to update or augment the operational functions of the satellite work device 100. In some embodiments, pods 102 may be separated from the carrier spacecraft 50, have their trajectory corrected so that they can be ultimately captured by the satellite work device 100, and may have observation instruments 101 that can be captured by the satellite work device 100 and removed by robotic functions included in the satellite work device 100. In this case, pods 102 may have observation instruments 101 that can be captured by the satellite work device 100 and removed by robotic functions included in the satellite work device 100. 0 can be mounted on the target spacecraft 20. Such a configuration allows for future updates of the entire functional part of the satellite work device 100 without requiring the launch of an entirely new spacecraft, while also allowing maintenance and management of the target spacecraft 20 to be performed by the pod 102 after the update.

[0117] As depicted in Figure 11, the pod 102 may need to be able to travel directly to the target spacecraft 20 (for example, it may also need to be docked with the target spacecraft 20), or it may need to be pre-positioned in a substantially Earth-synchronous orbit and then mounted on and / or delivered to the target spacecraft 20. For example, the pod 102 itself may not be able to independently dock with the target spacecraft 20 and / or rendezvous with the target spacecraft 20 (for example, due to not having the necessary systems). In such embodiments, the pod 102 may use its own propulsion and / or power to change its orbit for the purpose of rendezvous with the satellite work device 100. When it arrives at the desired location, the spacecraft work device 100 may capture the pod 102 using a docking mechanism on the spacecraft work device 100 (for example, a coupling mechanism 152 shown in Figure 2B). Prior to capture, pod 102 can remain in an orbit close to the satellite work device 100 or the target spacecraft 20 to reduce the transit time to the target spacecraft 20.

[0118] In some embodiments, one or more thrusters on a boom assembly (e.g., a single boom assembly 206 as shown in Figure 3) may be used to facilitate the delivery of pod 102 from its initial launch entry trajectory to its intended trajectory. As shown in Figure 3, pod 102 may have all the structural and functional components that allow one or more pods 102 to be mounted on a launch vehicle as either a primary or secondary observation instrument, along with one or more observation instruments 101 as shown in Figure 11, at any option. The launch vehicle (e.g., carrier spacecraft 50) may release one or more pods 102 in an initial trajectory other than the final trajectory where pod 102 will be permanently located (e.g., the trajectory where pod 102 will be resupplied). In some embodiments, pod 102 may use its propulsion system to correct its trajectory with the aim of allowing pod 102 to be captured by a spacecraft operations system 100 for later mounting on a host spacecraft 20. In some embodiments, the pod 102 can correct its trajectory using one (or more) thruster booms (e.g., the boom assembly 206 shown in Figure 3). The carrier spacecraft 50 can release one or more pods 102 at any trajectory where the pod 102 will have enough fuel and power to generate the delta velocity necessary to correct its trajectory to a desired trajectory. In some embodiments, the pod 102 may be steered to an trajectory for capture (e.g., attachment, resupply, etc.), which may take place at any trajectory where work for life extension is to be realized (e.g., low Earth orbit (LEO), medium Earth orbit (MEO), geosynchronous orbit (GEO), polar geostationary orbit, cislunar orbit, or other trajectories).

[0119] In some embodiments, additional devices as observation instruments 101 may be included in the pod 102 to enable the pod 102 to maintain its state independently when not attached to the resupply device 30, carrier spacecraft 50, target spacecraft 20, or satellite work device 100, or to enable the pod 102 to deliver supplies in the observation instruments 101 to another spacecraft. These additional devices in the observation instruments 101, separate or integrated from the pod 102, may include reaction wheel assemblies, inertial reference units (e.g., gyroscopes), GPS transponders (e.g., having GPS antennas), thrusters, antennas, star trackers, and / or This may include any appropriate combination of spacecraft control and support devices, such as additional solar cells. Pod 102 may have any of the components considered above in the spacecraft work device 100 or pod 102 in Figures 2A, 2B, and 3. In some embodiments, pod 102 may utilize an onboard computer to use these additional devices for maintaining the orientation of pod 102 in space (e.g., altitude control sensors and actuators), changing speed (e.g., thrusters, tanks, and fuel in the propulsion system), determining the pod's orbit (e.g., ranging transponder or GPS transponder), supplementing power to support these functions (e.g., additional solar cells), and supplementing ground communications (e.g., auxiliary antennas).

[0120] The embodiments shown in the above disclosure and the accompanying drawings do not limit the scope of this disclosure, for these embodiments are merely examples of the embodiments of this disclosure as defined by the accompanying claims and their legal equivalents. Any equivalent embodiments are intended to be within the scope of this disclosure. In practice, this description will make various modifications of this disclosure apparent to those skilled in the art, including alternative useful combinations of the elements described, in addition to those shown and described herein. Such modifications and embodiments are also within the scope of the accompanying claims and their legal equivalents.

Claims

1. A spacecraft work pod deployed from a carrier spacecraft in an initial orbit that is not an Earth-synchronous orbit, wherein the spacecraft work pod is: Body and; At least one spacecraft operational component configured to perform at least one operational operation on the target spacecraft while coupled to the target spacecraft; The spacecraft work pod and a thruster assembly configured to change at least one of the orbit, velocity, or momentum of the target spacecraft; A docking mechanism for securing the body to the target spacecraft and Equipped with, The thruster assembly is configured to transport the body from the initial orbit to the Earth-synchronous orbit after the body has been deployed from the carrier spacecraft. For the docking of the aforementioned spacecraft work pod to the target spacecraft, it is necessary for another spacecraft, separate from the carrier spacecraft, to assist in docking the spacecraft work pod to the target spacecraft using the docking mechanism. The aforementioned spacecraft work pod is configured to rendezvous with another spacecraft at a position close to the Earth-synchronous orbit in which it is to be attached to the target spacecraft, via the thruster assembly. The thruster assembly is positioned on the boom arm to which the body is attached. Spaceship work pod.

2. The spacecraft work pod according to claim 1, wherein the thruster assembly is further configured to change at least one of the orbit, velocity, or momentum of the target spacecraft when the body is coupled to the target spacecraft.

3. The spacecraft work pod according to claim 1, further comprising a payload to be carried by the spacecraft work pod, configured to be delivered together with the spacecraft work pod to the target spacecraft.

4. The spacecraft work pod according to claim 1, wherein the thruster assembly is configured to correct the trajectory of the spacecraft work pod in order to position the spacecraft work pod in close proximity to the target spacecraft.

5. A method of working in a spacecraft, wherein the method is: The steps include deploying the pod to an initial orbit lower than Earth-synchronous orbit and The steps include: transporting the pod by the thruster assembly of the pod from the initial orbit to the effective Earth-synchronous orbit; The steps include: in the Earth-synchronous orbit, coupling the pod to the spacecraft with an additional spacecraft; The steps include performing at least one spacecraft operation, which, after being coupled to the spacecraft, uses the thruster assembly of the pod to adjust at least one of the spacecraft's orbit, velocity, or momentum; A method that includes this.

6. The method of claim 5, further comprising the step of assisting in the step of coupling the pod to the spacecraft using the additional spacecraft provided separately from both the pod and the spacecraft.

7. After transporting the pod from the initial orbit to the effective Earth-synchronous orbit, The steps include: bringing the spacecraft closer to the additional spacecraft, which is separated from both the pod and the spacecraft; The steps include: having the additional spacecraft holding the pod rendezvous with the spacecraft; The steps include: connecting the pod to the spacecraft using the additional spacecraft; The method according to claim 5, further comprising:

8. The method according to claim 5, wherein the step of performing at least one spacecraft work operation includes the step of delivering at least one spacecraft component to the spacecraft using the pod.

9. A spacecraft work pod, which is coupled to the target spacecraft by another spacecraft at a location adjacent to the target spacecraft, A thruster assembly comprising at least one thruster, wherein the thruster assembly is configured to change the orbit of the spacecraft work pod from a first orbit to a second orbit when the spacecraft work pod is not coupled to the other spacecraft, The body and At least one spacecraft operational component configured to perform at least one operational operation on the target spacecraft when the body is coupled to the target spacecraft, wherein the at least one spacecraft operational component comprises the thruster assembly, and the thruster assembly is further configured to change at least one of the orbit, velocity, or momentum of the target spacecraft when the body is coupled to the target spacecraft, A communication device configured to receive data relating to at least one of the orbit, velocity, or momentum of the target spacecraft from a transmission location located some distance from the spacecraft work pod. Includes, Based on received data relating to at least one of the target spacecraft's orbit, velocity, or momentum, received by the communication device, the spacecraft work pod controls the thruster assembly to change at least one of the target spacecraft's orbit, velocity, or momentum while the spacecraft work pod is coupled to the target spacecraft. Spaceship work pod.

10. The spacecraft work pod according to claim 9, further comprising a computer programmed to operate the thrusters in response to the received data, wherein the communication device is configured to receive the data from the transmission location located away from the spacecraft work pod.

11. The spacecraft work pod according to claim 9, wherein the communication device is configured to receive the data via at least one of a wired communication channel or a wireless communication channel.

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