Network for space object tracking using in-space sensors

Abstract

Software-defined space domain awareness systems, comprising a network of a plurality of sensor nodes operating in orbit, each node comprising a hosted payload configured to operate as a network participant in a multi-service SDA network. The hosted payload having a space domain awareness sensor, a processing unit configured to execute a software stack, and a standardized hardware and data interface for integration with satellite, planetary lander, planetary rover platforms or ground / planetary observatories (i.e., earth, moon or another planet). The software is configured to implement SDA algorithms including object detection, object identification and object characterization, autonomously execute tasking decisions using onboard data and shared information from other sensor nodes, synchronize and distribute tracking data via interoperable protocols across the network, and perform real-time propagation of object states and associated uncertainties. The network thus provides decentralized dynamic participation and the sensor nodes providing observation data and receiving tasking directives by the network.

Description

NETWORK FOR SPACE OBJECT TRACKING USING IN-SPACE SENSORSFIELD OF THE INVENTION

[0001] The present disclosure relates generally to systems and methods for space situational awareness and space domain awareness. More particularly, the disclosure pertains to a software-defined and hardware-enabled networked architecture that enables interoperability of distributed sensors across heterogeneous sensor, spacecraft, and mission types.BACKGROUND

[0002] Recent interest and activity in cislunar space by space-faring nations has highlighted the need for an increased level of space domain awareness (SDA) to maintain safe and secure space operations in near-Earth orbit, GEO, and beyond. The chaotic dynamics in cislunar space create challenges for maintaining custody of space objects; small maneuvers can result in large trajectory changes, which present opportunities to affect Earth-orbiting spacecraft. The large volume of beyond-GEO (XGEO) space is difficult to search with only a few centralized observers.

[0003] Future mission architectures capable of achieving this complex mission objective will require sensors proliferated in cislunar space, complex mission planning and mission data processing algorithms, and the supporting ground infrastructure. Additionally, creating a common operating picture will become increasingly difficult with the number of participating commercial spacecraft, subsystem, and mission software providers.SUMMARY

[0004] The present disclosure provides software-defined space domain awareness systems, comprising a network of a plurality of sensor nodes operating in126500.01 116orbit or on a planetary surface, with each sensor node comprising a hosted payload configured to operate as a network participant in a multi-service SDA network. The hosted payload may include a space domain awareness sensor, a processing unit configured to execute a software stack, and a standardized hardware and data interface for integration with satellite, planetary lander, planetary rover platforms or other forms of spacecraft or even ground / planetary observatories (i.e., earth, moon or another planet). In accordance with various aspects, the software stack is configured to implement SDA algorithms including at least one of object detection, object identification and object characterization, autonomously execute tasking decisions using onboard data and shared information from other sensor nodes, synchronize and distribute tracking data via interoperable protocols across the network, and perform real-time propagation of object states and associated uncertainties. The network thus can provide decentralized dynamic participation with sensor nodes both providing observation data and receiving tasking directives.

[0005] An example in accordance with the present disclosure includes an Interoperable Cislunar Observation Network (“ICON”) solution that is software- defined, hardware-enabled architecture intended to enable interoperability of distributed sensors across heterogeneous spacecraft and missions. At a high-level, the ICON system and other systems disclosed herein enable strategic control over multiple sensing platforms, aggregation of mission data to create a common operating picture, and increased visibility of events occurring in a multitude of orbital regimes including cislunar space.

[0006] For example, ICON and other disclosed systems may connect GEO and XGEO spacecraft with non-SDA missions together with ground-based sensors, and SDA sensors into an interoperable SDA network, designed to maximize226500.01 116limited investments from commercial and government sectors and incentivize deployment through a commercial, revenue-sharing model. ICON is a software- defined network for object tracking that abstracts low-level interactions through autonomous tasking, data synchronization, and cislunar state and uncertainty propagation algorithms. ICON may specifically be implemented through standardized optical and processing hosted payload packages with defined interfaces that are modular and self-contained to create compatibility between heterogeneous platforms. ICON software provides processing, tracking, and tasking for participating nodes in the network without requiring system-level modifications. This distributed approach capitalizes on planned and existing investments for spacecraft by reducing the friction to adoption, allowing cooperative architectures to emerge organically. ICON software ensures that the collective actions of these autonomous nodes result in predictable and desired network behaviors. This ad-hoc design enables scalability, easily integrates into broader architectures, and adjusts to the addition or removal of nodes BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The accompanying drawings provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the principles of the invention.

[0008] Figure 1 shows an overview of an SDA system in accordance with the present disclosure.

[0009] Figure 2 shows an operational view of an SDA system combining a large-scale search with distributed tracking to deliver a comprehensive non- cooperative detection and tracking system using an SDA system in accordance with the present disclosure.326500.01 116

[0010] Figure 3 illustrates an incentive model of an SDA system in accordance with the present disclosure.

[0011] Figure 4 illustrates a large-scale volume search using an SDA system in accordance with the present disclosure.

[0012] Figure 5 illustrates a localized target tracking and reacquisition process using an SDA system in accordance with the present disclosure. DETAILED DESCRIPTION

[0013] Persons skilled in the art will readily appreciate that various aspects of the present invention may be realized by any number of methods and apparatuses configured to perform the intended functions. Stated differently, other methods and apparatuses may be incorporated herein to perform the intended functions. It should also be noted that the accompanying drawing figures referred to herein are not all drawn to scale but may be exaggerated to illustrate various aspects of the present invention, and in that regard, the drawing figures should not be construed as limiting. Finally, although the present invention may be described in connection with various principles and beliefs, the present invention should not be bound by theory.

[0014] The above being noted, the present disclosure contemplates a software-defined and hardware-enabled networked architecture to interoperate with distributed sensors across heterogeneous sensor, spacecraft, and mission types. For example, in accordance with various aspects of the present disclosure and as will be described in more detail below and with reference to, for example Figures 1 and 2, a software-defined space domain awareness (SDA) system comprising a network of sensor nodes operating in various orbits to operate as a network participant in a multiservice SDA network. The orbits include, among others, a geosynchronous Earth orbit426500.01 116(GEO), beyond-GEO (XGEO), cislunar space, low earth orbit (LEO), medium (MEO), high earth orbit (HEO), or other orbits. In accordance with some aspects of the present disclosure, at least one sensor node may be ground-based (i.e., earth, moon or another planet). In accordance with various aspects of the present disclosure, contemplated network functions include: (1) tasking algorithms, (2) incentive models, (3) distributed information sharing, and (4) various interoperability standards.

[0015] The spacecraft that host sensor nodes may have various primary missions such as communications, transit, or science related missions. In accordance with various aspects of the present disclosure, the spacecraft that host sensor nodes can be orbiters, landers, or rovers or other vehicles equipped with digital or hardware hosted payloads contributing to network capabilities for tracking. In this regard, each sensor node may be configured to dynamically observe, propagate, and share information in a distributed manner when opportunities present themselves, allowing for synergies with a primary spacecraft’s mission.

[0016] In accordance with various aspects of the present disclosure, the hosted payload may comprise a space domain awareness sensor such as, among other sensors, an optical sensor, radiofrequency sensors, infrared sensors, and the like. The hosted payload may further comprise a processing unit configured to execute a software stack (which may be a modular configuration) and standardized (conventional, now known or as yet unknown) hardware and data interface(s) for integration with satellites, planetary landers, planetary rover platforms, or other spacecraft.

[0017] In accordance with various aspects of the present disclosure, the hosted payload may be implemented as hardware, software or some combination of the same, generally remaining modular and self-contained for simplified integration.526500.01 116In the context of a hosted payload as a software module, it will typically run on a host satellite’s avionics and interface with one or more sensors on the host satellite to enable the various tasking contemplated herein.

[0018] In the context of a hosted payload as a hardware implementation, it may be a modular and self-contained space domain awareness sensor module or a modular and self-contained space domain awareness upgrade module enabling physical or software-level integration with both legacy and future spacecraft bus architectures.

[0019] In accordance with various aspects of the present disclosure, the software stack may be configured to implement various SDA algorithms, by way of non-limiting example, at least one of object detection, initial orbit determination, noninitial orbit determination, object identification, object characterization, observation association, uncertainty propagation and characterization, and divergence estimation. In accordance with various aspects of the present disclosure, the software stack may be configured to autonomously execute tasking decisions using onboard data and shared information from other sensor nodes, synchronize and distribute tracking data via interoperable protocols across the network, and perform real-time propagation of object states and associated uncertainties.

[0020] Using various aspects of the foregoing, the network may thus provide decentralized dynamic participation with the sensor nodes providing observation data and as well as receiving tasking directives by the network.

[0021] In accordance with various aspects of the present disclosure, the SDA system may further comprise a master node wherein the software stack performs incentive-based distributed task assignment using a master optimization algorithm, running on a master node, and coupled with one or more task incentive algorithms.626500.01 116Alternatively, the SDA system may further use a software stack that performs incentive-based distributed task assignment and one or more task incentive algorithms using a decentralized optimization algorithm run on multiple nodes.

[0022] In accordance with other aspects of the present disclosure, each sensor node may perform real-time, distributed decision-making for tracking a resident space object.

[0023] In accordance with various aspects of the present disclosure, the software stack may provide operator-defined policy overlays to enforce tasking or tracking constraints based on constraints of a host-satellite's primary mission. For example, some host satellites may use fixed sensors (i.e., non-steerable) which in turn limit the area for which those sensors can observe, track, etc. The operator-defined policy overlays thus “keep track” of these limitations.

[0024] In accordance with various aspects of the present disclosure, various tasking directives may comprise large-scale volume searches across a defined volume of space directives, localized target tracking and reacquisition directives, and non-cooperative detection and tracking directives. Other tasking directives are likewise contemplated herein and are considered with the scope of the present disclosure.

[0025] In accordance with various aspects, the tasking directives may be generated via automated tipping and cueing algorithms that optimize a sensor utility across a heterogeneous network of the sensor nodes. For example, an object being tracked by one sensor node on a spacecraft may be leaving that sensor’s field of view, and through the noted tipping and cueing algorithms, the current sensor node can communicate with another spacecraft’s sensor node with a sensor capable of viewing the object to provide tasking to begin tracking and maintain custody of the object.726500.01 116

[0026] In this regard, the network may support integration with a variety of heterogeneous space domain awareness sensor architectures from numerous other orbital and / ground locations via standard APIs (Application Programming Interfaces).

[0027] In accordance with various aspects of the present disclosure, the network may be configured to function in an ad-hoc manner such that addition or removal of sensor nodes from the network does not disrupt network integrity or performance. In accordance with other aspects, the network may dynamically reconfigure in response to spacecraft or sensor node availability or mission priorities, and reallocate node sensing responsibilities without centralized control.Cislunar SDA Algorithms

[0028] In accordance with various aspects of the present disclosure, a specific embodiment of a software-defined SDA system contemplates cislunar applications, and in this regard consists of five core cislunar algorithms which are detailed in herein and illustrated in Figure 1 :(1) Observation Association,(2) Initial Orbit Determination,(3) Orbit Determination,(4) Uncertainty Propagation and Characterization, and(5) Divergence Estimation.Value Propositions

[0029] In accordance with various aspects of the present disclosure, potential values of systems such as those disclosed herein, particularly with respect to the government, include self-sustaining deployment of infrastructure and access to SDA information as a service that complements planned programs without requiring826500.01 116direct investment in network operations and maintenance. With respect to commercial entities, the system provides opportunities for revenue sharing that improves the economics of a host spacecraft. Such systems may also take advantage of other infrastructure deployed to the cislunar domain for other missions such as positioning, navigation, and timing (PNT) or communications satellites, thereby expanding the sensor network and SDA capabilities as infrastructure evolves. Hosting the systems contemplated herein onboard may further serve as a cost-effective method to establish a multi-service cislunar infrastructure, encompassing, as an example, communications, PNT, and SDA.Commercial Service Model Interactions

[0030] In accordance with various aspects of the present disclosure, the systems contemplated herein may provide access to information generated as a service. For example, stakeholder categories include:• Customers - downstream entities that purchase information generated through the system;• Users - in-domain spacecraft that utilize information from the system as part of operations; and• Providers - participants in the system that generate, process, and relay information.

[0031] In accordance with various aspects of the present disclosure, provider spacecraft generate observation data, either from on-board sensors or hosted system payloads, and pass those observations to the system network as inputs. The system aggregates and processes these observations, creates search patterns, and generates tasking recommendations or commands to providers. Data products created from these raw observations and tasks are then sold to downstream926500.01 116customers.

[0032] Thus, in accordance with various aspects of the present disclosure, a software-defined space domain awareness system such as disclosed herein may comprise a commercial incentive framework in which the participation of sensor nodes in the network are rewarded (e.g., economically or otherwise) based on factors such as task completion, participation uptime, and various contributions to network data fidelity. For example, an exemplary “Network Incentive Model” is illustrated in Figure 3.

[0033] This decentralized approach is economically efficient in that, as demand increases, incentives to be a provider also goes up. These supply and demand dynamics help provide a “self-leveling” approach that provides stability to customers of the service. In this respect, generic network service requests are automatically mapped to individual sensor nodes best suited to provide the desired services. Customers may engage the services via individual data requests or subscriptions with fixed or variable fees and capabilities. In one example, these revenues may be split into three avenues:(1) a “Task Bounty” associated with the reward function in the optimization tasking algorithm that utilizes a decentralized approach to payout to the node provider that completes the task;(2) a “Base Fee” that pays out to all providers of nodes on a fixed basis for operating per node; and(3) a “Maintenance and Investment Pool” that helps pay for deployment of new nodes, builds the network, and offsets costs.

[0034] The split between these pools is merely exemplary and may vary as applicable. Coupling the network to a platform-agnostic approach means that the1026500.01 116system can scale rapidly but not be dependent on any centralized pre-planned monolithic architectures. A strength of the system is thus the ability to quickly and seamlessly integrate with multiple spacecraft destined for orbit (e.g., the cislunar region) and bring these spacecraft together to interoperate and collectively contribute to the system. Furthermore, such diverse cooperation and interdependence results in standardization, helping sustain a “flywheel” effect.

[0035] In accordance with various aspects of the present disclosure, system capabilities may address three primary design reference scenarios. In the following, each design reference mission (DRM) is intended to be functionally aligned with the anticipated operational activities that were derived from conversations with stakeholders and a broad literature review of space situational awareness (SSA) / SDA missions and objectives. For example, the overall objective of cislunar SDA is to know the location of every object in cislunar space, to know why it is there, what it is doing now, and predict what it will be doing in the future. These objectives are crucial for maintaining situational awareness and ensuring the safety and security of space operations in the increasingly crowded cislunar domain.1. Large-Scale Volume Search in Cislunar Space

[0036] In accordance with various aspects of the present disclosure, a large-scale volume search in cislunar space DRM, illustrated in Figure 4, focuses on implementing a general volume search to maintain SDA by detecting and characterizing unknown objects in cislunar space. The approach leverages a network of heterogeneous sensing platforms to perform comprehensive scans across predefined regions of interest. By developing cooperative search strategies and optimizing search expedience, this DRM aims to establish a clear common operating picture while adapting to the challenges of the vast cislunar environment.1126500.01 1162. Localized Target Tracking and Reacquisition

[0037] In accordance with various aspects of the present disclosure, a localized target tracking and re-acquisition DRM, illustrated in Figure 5, aims to demonstrate the ability to ingest imperfect tracking data, efficiently generate localized search volumes, and refine track quality in a distributed manner. This DRM emphasizes the system’s ability to cooperatively track targets with automated tipping and cueing. Resource allocation is intended to be automated to reduce the human operational burden associated with detection and reacquisition of high-interest targets.3. Non-Cooperative Search Detection and Tracking

[0038] In accordance with various aspects of the present disclosure, a non-cooperative search detection and tracking DRM, illustrated in Figure 2, combines large-scale search with distributed tracking to deliver a comprehensive non- cooperative detection and tracking system. The system architecture dynamically prioritizes resources to detect unknown objects, allocates sensors for tracking high- priority targets, and quickly re-assigns resources based on emerging real-time data. This DRM is crucial for simulating a realistic operational system capable of handling unpredictable changes in the cislunar environment.Benefits and Advantages

[0039] A variety of benefits and advantages are associated with the various systems described in the present disclosure. For example, there are no current solutions for distributed and comprehensive space situational awareness or space domain awareness for the XGEO I cislunar regime. Moreover, current systems in the cislunar regime are owned and operated by a variety of different companies and government entities and no solution exists to aggregate data and manage tasking across these various platforms. Current proposals for this problem include costly1226500.01 116assets and constellations dedicated to this mission. Systems such as disclosed herein enable distributed observations and tasking, utilizing heterogeneous assets with non- SDA primary mission purposes. The systems also allow a variety of spacecraft to participate in the network, providing imagery and track data, and receiving incentivized tasking information for new observations. Additionally, the systems address the large, multi-faceted challenge of cislunar space domain awareness by providing a distributed software-defined and hardware-enabled solution, rapidly deployable to existing assets and mission frameworks.

[0040] Finally, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. For example, numerous implementations, architectures, software modules, hardware payload configurations, spacecraft types, payload hosting approaches, and interface standards can be substituted in place of those described herein. Thus, the present disclosure covers the modifications and variations provided they come within the scope of the appended claims and their equivalents.1326500.01 116

Claims

WHAT IS CLAIMED:We claim:

1. A software-defined space domain awareness system, comprising: a network of a plurality of sensor nodes operating in orbit or on planetary surfaces, each sensor node comprising a hosted payload configured to operate as a network participant in a multi-service SDA network; wherein said hosted payload includes: a space domain awareness sensor, a processing unit configured to execute a software stack, and a standardized hardware and data interface for integration with satellite, spacecraft, planetary lander, or planetary rover platforms, or on planetary telescopes or rovers; wherein the software stack is configured to: implement SDA algorithms including at least one of object detection, object identification and object characterization; autonomously execute tasking decisions using onboard data and shared information from other sensor nodes; synchronize and distribute tracking data via interoperable protocols across the network; perform real-time propagation of object states and associated uncertainties; and wherein the network provides decentralized dynamic participation and the sensor nodes providing observation data and receiving tasking directives by the network.

2. The software-defined space domain awareness system of claim 1, wherein the orbit is at least one of geosynchronous Earth orbit (GEO), beyond-GEO1426500.01 116(XGEO), LEO, MEO, HEO, and cislunar space.

3. The software-defined space domain awareness system of claim 1 , wherein at least one sensor node is ground based.

4. The software-defined space domain awareness system of claim 1 , wherein the space domain awareness sensing system is an optical sensor.

5. The software-defined space domain awareness system of claim 1 , further comprising a master node using the software stack to perform incentive-based distributed task assignment using a master optimization algorithm and a task incentive algorithm.

6. The software-defined space domain awareness system of claim 1 , wherein the software stack performs incentive-based distributed task assignment and a task incentive algorithm using a decentralized optimization algorithm run on multiple nodes.

7. The software-defined space domain awareness system of claim 1 , wherein each sensor node performs real-time, distributed decision-making fortracking a resident space object.

8. The software-defined space domain awareness system of claim 1 , wherein the software stack provides operator-defined policy overlays to enforce tasking or tracking constraints based on constraints of a host spacecraft's primary mission.

9. The software-defined space domain awareness system of claim 1 ,1526500.01 116wherein tasking directives further comprise at least one of a large-scale volume search across a defined volume of space directive, a localized target tracking and reacquisition directive, and a non-cooperative detection and tracking directive.

10. The software-defined space domain awareness system of claim 1 , wherein a tasking directive is generated via automated tipping and cueing algorithms that optimize a sensor’s utility across a heterogeneous network of the sensor nodes.

11. The software-defined space domain awareness system of claim 1 , wherein the hosted payload is at least one of a hardware or software implementation.

12. The software-defined space domain awareness system of claim 11 , wherein the hosted payload is a software module running on a host satellite avionics and interfaces with a sensor on a host satellite to enable tasking.

13. The software-defined space domain awareness system of claim 11 , wherein the hosted payload is a space domain awareness sensor module with mechanical and electrical connections to a host spacecraft.

14. The software-defined space domain awareness system of claim 11 , wherein the hosted payload is a modular and self-contained space domain awareness upgrade module.

15. The software-defined space domain awareness system of claim 1 , wherein the network integrates with at least one space domain awareness sensor architecture from orbital or ground locations via standard APIs.

16. The software-defined space domain awareness system of claim 1 ,1626500.01 116wherein the network’s function is ad-hoc such that adding or removing sensor nodes does not disrupt the network.

17. The software-defined space domain awareness system of claim 1, wherein the network reconfigures in response to sensor node availability or mission priorities, and reallocates sensor node observation responsibilities without a centralized control.

18. The software-defined space domain awareness system of claim 1, further comprising a commercial incentive framework wherein participation of sensor nodes in the network is rewarded based on at least one of a task completion, a participation uptime, and a contribution to network data fidelity.1726500.01 116

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