Single board satellite systems and methods

Abstract

Described are methods and systems for a host satellite configured to dispense a plurality of single-board satellites.

Description

Atty. Docket No. 108-10567W001Single Board Satellite Systems and Methods

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 638,384 entitled “Single Board Satellite” and filed on April 24, 2024, which is incorporated herein by reference in its entirety.

[0002] Satellites are being used for a wide variety of purposes, including sensing, communications, and navigation. In order to function, satellites generally contain circuits such as computers, radios, sensors, solar panels, and batteries.

[0003] Originally satellites were manufactured by governments or their contractors. As they became more common, private companies manufactured them. Typical satellites cost hundreds of millions of dollars and were in sizes ranging from a few cubic feet to hundreds of cubic feet, and required relatively expensive single-use rockets for launch.

[0004] By the late 2010s, the cost of launching satellites dropped dramatically because of the advent of reusable rockets, such as those manufactured by SpaceX.

[0005] Even with advances in satellite design and launch capability, it is still the situation that satellites are relatively complicated, combining sophisticated electronics and circuit boards with precision mechanical components, cases, wiring harnesses, and deployment mechanisms.

[0006] It is an object of one or more embodiments of the present disclosure to implement a complete satellite in a single circuit board (with a payload integrated on the board or attached thereto as a payload daughtercard) with no external case, thereby minimizing the cost to implement it. It is a further object of one or more embodiments of the present disclosure to provide a single board satellite having a shape and structure compatible with its deployment mechanism. It is a further object of one or more embodiments of the present disclosure to provide a compatible mechanism for launching a single board satellite and deploying it in space. It is a further object of one or more embodiments of the present disclosure to have a launcher capable of well-controlled delta-V on each single board satellite being launched. It is a further object of one or more embodiments of the present disclosure to have a launcher capable of launching individual single board satellites selectively. It is a further object of one or more embodiments of the present disclosure to enable the rapid deployment of multiple single board satellites to conduct missions over a short period of time. It is a further object of one or more embodiments of the present disclosure to enable a host satellite to stow multipleAtty. Docket No. 108-10567W001 single board satellites for prolonged periods of time (e.g., years) and to enable the rapid deployment, by the host satellite, of one or more of those single board satellites to conduct missions over a short period of time (e.g., days or months).

[0007] Embodiments were conceived in light of the above mentioned needs, problems and / or limitations, among other things.

[0008] Some implementations (first implementations) can include a satellite apparatus. The satellite apparatus can include a first stack of single board satellites, a second stack of single board satellites, and a pusher device disposed between the first stack of single board satellites and the second stack of single board satellites. The first stack of single board satellites can include a plurality of single board satellites including a top single board satellite at a top of the first stack of single board satellites, a next single board satellite disposed below the top single board satellite, and a bottom single board satellite at a bottom of the first stack of single board satellites. The first stack of single board satellites can also include a first spring mechanism disposed below the bottom single board satellite and configured to move the first stack of single board satellites in a direction from the bottom single board satellite to the top single board satellite. The second stack of single board satellites can include a plurality of single board satellites including a top single board satellite at a top of the second stack of single board satellites, a next single board satellite disposed below the top single board satellite, and a bottom single board satellite at a bottom of the second stack of single board satellites. The second stack of single board satellites can also include a second spring mechanism disposed below the bottom single board satellite and configured to move the second stack of single board satellites in a direction from the bottom single board satellite to the top single board satellite. The pusher can be configured to rotate to eject the top single board satellite of the first stack of single board satellites and the top single board satellite of the second stack of single board satellites, the top single board satellite of the first stack of single board satellites and the top single board satellite of the second stack of single board satellites being ejected contemporaneously when the pusher is rotated. The first spring mechanism can be configured to, after the top single board satellite of the first stack of single board satellites is ejected, move the next single board satellite of the first stack into a top position where the top single board satellite of the first stack was prior to the top single board satellite of the first stack being ejected. The second spring mechanism can be configured to,Atty. Docket No. 108-10567W001 after the top single board satellite of the second stack of single board satellites is ejected, move the next single board satellite of the second stack into a top position where the top single board satellite of the second stack was prior to the top single board satellite of the second stack being ejected.

[0009] In some first implementations, each single board satellite of the plurality of single board satellites of the first stack includes an at least partially detachable rail attached to the single board satellite. In some first implementations, when L is a length of each of the plurality of single board satellites of the first stack, a radius R of the pusher device is greater than L. In some first implementations, the pusher is further configured to rotate again, after which the first spring mechanism causes the next single board satellite of the first stack to be moved to the top position where the top single board satellite of the first stack was prior to the top single board satellite of the first stack being ejected. In some first implementations, after being ejected the top single board satellite of the first stack is configured to partially detach its corresponding rail and deploy a portion of the rail as a boom of the top single board satellite of the first stack. In some first implementations, the pusher provides a controlled delta-V onto each single board satellite as it is dispensed. In some first implementations, the apparatus is configured to dispense the plurality of single-board satellites of the first stack and the plurality of single-board satellites of the second stack at substantially the same time. In some first implementations, the apparatus is configured to dispense a first set of the singleboard satellites, and, after dispensing the first set, dispensing a second set of the single-board satellites, wherein the second set of single-board satellites is dispensed a month after the first set.

[0010] Some implementations (second implementations) can include a satellite system. The satellite system can include a host satellite comprising a plurality of single-board satellites and a dispensing system configured to dispense the plurality single-board satellites in any order. The dispensing system can include rails for each single board satellite of the plurality of single board satellites and an actuation system to eject each of the plurality of single board satellites out of the host satellite. Each of the plurality of single-board satellites can include flat regions on two opposite sides thereof, the flat regions being configured to fit inside the rails of the dispensing system.Atty. Docket No. 108-10567W001

[0011] In some second implementations, the actuation system is configured to provide a controlled delta-V onto its corresponding single-board satellite as the satellite is dispensed. In some second implementations, the flat regions are used to house flat satellite structures. In some second implementations, the flat satellite structure is an antenna or solar panel. In some second implementations, the system is configured to eject the single-board satellites over a short period of time. In some second implementations, the system is configured to dispense a first set of the single-board satellites, and, after dispensing the first set, dispensing a second set of the single-board satellites, wherein the first and second sets are ejected at different times. In some second implementations, the system is configured to dispense the single-board satellites in any order. In some second implementations, the first single-board satellite is dispensed at least one month after the host satellite has been put into orbit.

[0012] Some implementations (third implementations) can include a method of dispensing single board satellites. The method can include providing a host satellite, the host satellite including a plurality of single-board satellites and a single-board satellite dispensing system configured to dispense the plurality single-board satellites in any order. The method can also include determining, at the host satellite, a controlled orientation of the single-board satellite dispensing system such that that the delta-V imparted on one or more of the plurality of single-board satellites upon ejection achieves a controlled orbital effect. The method can also include orienting, at the host satellite, the single-board satellite dispensing system into the determined controlled orientation. The method can also include ejecting, after the orienting, the one or more of the plurality of single-board satellites such that that the delta-V imparted on the one or more of the plurality of single-board satellites upon ejection achieves the controlled orbital effect.

[0013] In some third implementations, each single board satellite of the plurality of single board satellites of the first stack includes an at least partially detachable wall attached to the single board satellite. In some third implementations, the dispensing system also includes rails into which each single board satellite of the plurality of single board satellites is slotted, the rails not being attached to any of the plurality of single board satellites. In some third implementations, the dispensing system also includes an actuator device, and when L is a length of each of the plurality of single board satellites, a radius R of the actuator device is greater than L. In some third implementations, the ejecting includes ejecting the plurality ofAtty. Docket No. 108-10567W001 single-board satellites at substantially the same time. In some third implementations, the ejecting includes ejecting a first set of the single-board satellites, and the method also includes ejecting, after ejecting the first set, a second set of the single-board satellites, where the second set of single-board satellites is dispensed at least a month after the first set.BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Fig. l is a diagram of an example satellite architecture, in accordance with some implementations.

[0015] Fig. 2 is an embodiment of the single-board satellite architecture, in accordance with some implementations.

[0016] Fig. 3 is a diagram of an example a rail system for stowing and deploying the singleboard satellite of Fig. 2, in accordance with some implementations.

[0017] Fig. 4 is a diagram of an example of a launcher (or deployer) for single-board satellites, in accordance with some implementations.

[0018] Fig. 5 is a diagram of an alternate embodiment of a single-board satellite, in accordance with some implementations.

[0019] Fig. 6 is a diagram of an example of a single-board satellite being deployed, in accordance with some implementations.

[0020] Fig. 7 is a side view diagram of a single-board satellite deployment, in accordance with some implementations.

[0021] Fig. 8 is a diagram of an example rotary actuator, in accordance with some implementations.

[0022] Fig. 9 is a diagram of an example deployment of single-board satellites, in accordance with some implementations.

[0023] Fig. 10 is a flowchart of an example method associated with the operation of single board satellites, in accordance with some implementations.DETAILED DESCRIPTION

[0024] The following description is presented in order to enable persons of ordinary skill in the art to make and use embodiments of the present disclosure. Various modifications to the disclosed embodiments will be readily apparent to persons of ordinary skill in the art, and the principles disclosed herein are applicable to other embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The present disclosureAtty. Docket No. 108-10567W001 explicitly discloses that there are numerous combinations and embodiments of elements, and all combinations are therefore disclosed herein.

[0025] Fig. 1 is an example of a human-made satellite 101. (Technically, any body in orbit around another is a “satellite” but this specification is drawn uniquely to human-made satellites.) Satellite 101 contains the elements it needs to function in space. For example, GPS receiver 102 is used to determine the satellite’s current position in space. Note that GPS is only functional up to a certain altitude and, above that altitude, other navigational methods are needed. The satellite has attitude-determination systems 103 to enable the satellite to measure its orientation in space. Sensors that can be used for this purpose include magnetometers, rate gyroscopes, and star trackers. The satellite has attitude-control systems 104 to control the orientation of the satellite. Devices such as magnetorquer rods, reaction wheels, and thrusters can be used. Note that thrusters can also be used to change the satellite’s orbit and / or trajectory through space. An attitude determination and control system (ADCS) 107 often includes a computer system that can be employed to determine and control attitude. The satellite has an electrical power system (EPS) 108 that manages electric power. A typical EPS uses solar panels 105 and batteries 106 as part of its management. Besides managing and monitoring battery charge, a typical EPS can also power down and power up individual components as needed. A satellite often has a primary flight computer known as an on-board computer (OBC) or command and data handling (C&DH) computer 111. This computer manages the satellite’s overall operations. The satellite has one or more radios, such as radio 112, to communicate with Earth. The flow of data from the satellite to Earth, called the downlink, is used to convey measurements and information about the health and state of the satellite. The flow of data from Earth to the satellite, called the uplink, is used to control the satellite’s operations. In some embodiments, the satellite contains multiple radios. For example, one radio may have an omnidirectional antenna and a lower data rate and another radio may have a directional antenna and a higher data rate. In such a situation, the lower-data-rate radio may be used for low-bitrate operations like transmitting satellite health information and receiving commands while the higher-data-rate radio is used to downlink payload data, such as images. The attitude determination system 103 may have to manage aiming the directional antenna (or even the entire satellite) to manage the directional antenna’s operation while flying over a ground station. Conversely, by not having to be aimed, the radio with the omnidirectional antenna isAtty. Docket No. 108-10567W001 more reliable in the sense that it is nearly always operational, even if the attitude determination system 103 is inoperative, flawed, or has not gained complete control of attitude. This reliability is another reason why satellite health and commands are often transmitted over a lower data rate radio.

[0026] Every satellite is launched for some purpose (or purposes). Generally, the element of the satellite that represents its purpose is called the payload 109. For example, the payload of a weather satellite might be cameras that photograph clouds. The satellite may have other sensors 110 as well, the nature of which are dictated by the mission of the satellite. For example, a space probe might carry a specialized magnetometer or radiation sensor. Communication bus 113 connects the various components of the satellites so that they can interoperate correctly.

[0027] All the parts of the satellite except the payload is broadly referred to as the “bus” of the satellite. The bus is typically viewed as providing essential services to the payload, and a single bus design may be adapted to host different types of payloads, or even multiple payloads at the same time.

[0028] In a typical design, the components of the satellites, such as those shown in Fig. 1, are implemented in several circuit boards and antennas, connected via cables and board-to-board connectors, and housed inside a mechanical housing such as a metal case. However, if a satellite were redesigned to fit onto a single circuit board, cabling and board-to-board connectors would not be necessary, simultaneously reducing cost and increasing reliability. This architecture is called a single-board-satellite because the entire satellite is implemented on a single circuit board. As explained below, the payload may share the board (e.g., be implemented directly on the board) or be implemented on a second board (or “daughtercard”). Stated differently, the complete single board satellite resides either on a single circuit board or one primary board and one daughtercard. In either case, it will be referred to as a “single board satellite” (or “SBS”) in this specification.

[0029] An example embodiment of a single board satellite is shown in Fig. 2.

[0030] Single-board satellite 201 includes components 202. Components 202 are miniaturized versions of the components found in a typical satellite (such as the components shown in Fig. 1), each attached to a main circuit board. The main circuit board is shown in Fig. 2 as a large flat rectangular structure. The components 202 are shown in the figure in a representationalAtty. Docket No. 108-10567W001 form, and the methods for designing such a board and mounting the components to it are known in the art. For example, integrated circuits can be surface-mounted (i.e. soldered) using a reflow process. Mechanical components such as reaction wheels can be mounted using a combination of soldering, to provide electrical connections, and fasteners such as screws. The electronics can be conformally coated to provide environmental protection and to reduce the effects of outgassing. Mounted components can include solar panels and batteries.

[0031] Mounted components can include a deployment mechanism, such as a shape-memory alloy structure that releases a component, such as a solar panel, so that it "pops up" after satellite 201 has been fully deployed in space. For example, components that lie flat while the singleboard satellite is stowed inside the host satellite can, after deployment, spring outward and be deployed perpendicularly to the circuit board. In the case of a solar panel, it would enable a panel to receive sunlight even if the circuit board was edge-on to the sun. Other structures, such as antennas or cameras, may also unfold in a similar manner.

[0032] In some embodiments, a payload may be designed onto the main board or may be implemented on a small daughtercard (not shown) attached to the main board. Designing the payload onto the main board minimizes the board count and increases reliability. Having the payload on a daughtercard enables the main board to support a variety of payloads without having to be redesigned. The connector for the daughtercard carries both electric power and communications between the daughtercard and the rest of the satellite. As noted above, even in embodiments with a daughtercard, the satellite 201 is called a single-board satellite.

[0033] In the embodiment of Fig. 2, there are two keep-out regions 203 and 204 that run along opposite sides of satellite 201. Keep-out regions 203 and 204 are devoid of mounted structures, and a launcher rail (e.g., as shown in Fig. 3) can be configured to match the keep-outs and grasp satellite 201 prior to deployment in space. Keep-outs 203 and 204 may be left uncoated or may be coated with some material to reduce friction. In some embodiments, one or both of keep- outs 203 and 204 may also house flat circuit structures such as patch antennas or solar cells.

[0034] In some embodiments, all components for the main board of single board satellite 201 are placed during circuit board manufacturing. The components can be discrete microchips or systems-on-a-chip (SoC's). The processor(s), FPGA(s), radio(s), solar cell(s), and any actuators, and any other components, exist as mounted components on this circuit board.Atty. Docket No. 108-10567W001

[0035] Payloads for single board satellite 201 can exist on the bus in the form of: "chip-sized payloads," integrated into the circuit of the bus; as "software payloads", executing on the bus processor, FPGA, etc.; or in the form as an expansion card or daughter board. These daughter boards are affixed to the SBS bus using a board-to-board connector and in some embodiments include fasteners mechanically fixing the daughter board in place. The daughter board can exist as a printed circuit board, or a collection of printed circuit boards, and its components can exist as features placed on the board. There is no need for discrete insulated wire on the main board or payload / daughtercard.

[0036] An advantage of the "no-enclosure" strategy is that the volume of the single board satellite is minimized, consisting only of that of the circuit board and components. By minimizing the unit volume, the ability to stack single-board satellites into a host satellite is maximized. Other advantages include significantly improved manufacturability, an essential property for large-scale production, and improved initial quality because there is no case, chassis, or wiring harness that can be improperly assembled.

[0037] Fig. 3 shows a rail system for stowing and deploying satellite 201 of Fig. 2. Satellite 201 is mounted inside rails 303 and 304. The rails 303 and 304 grasp satellite 201 at keep-outs 203 and 204. The components of satellite 201 are not shown in Fig. 3 for simplicity. When in space, satellite 201 is deployed by causing it to slide along the rails 303 and 304 and outside the body of the spacecraft (e.g. host satellite) that housed it at launch. The deployment mechanism, not shown in the figure and discussed in more detail below, is any mechanism that moves the satellite 201 and causes it to slide down the rails. Advantageously, the rail system constrains the motion of satellite 201 during deployment, enabling the satellite to be dispensed in a known, well-controlled orientation and at a well-controlled velocity relative to the host satellite housing the dispenser.

[0038] Fig. 4 is a simplified drawing of a structure 400 capable of housing multiple singleboard satellites 201, 402, and 403. Satellite 201 is shown sliding out of structure 400 as it is being deployed in space. Although not shown, structure 400 includes the rail system 300 shown in Fig. 3 (e.g., rails 303 and 304) for each of single board satellites 201, 402, and 403, with each single board satellite being installed in its own respective rails of structure 400. Additional satellites can be stacked above and below satellite 201 because of the satellites' flat structure and compatibility with the rail system 300, such as satellites 402 and 403. Satellites 402 andAtty. Docket No. 108-10567W001 403 can be identical to satellite 201 or different. Each satellite (201, 402, and 403) has its own actuator (not shown) and so can be launched in any order and can be launched over an extended period of time. Multiple satellites can also be launched at the same time. Example actuators include memory shape metal actuators, such as those used in separation rings. Other examples include servo motors, other types of motors, explosive devices, and gas-powered devices. A rotary actuator is discussed in more detail below.

[0039] The structure 400 shown in Fig. 4 is preferably mounted inside a larger satellite which can be called a "host satellite". The host satellite can store one or more single board satellites such as satellites 201 and / or 501, deploy them on command, store them until needed, and perform orbital maneuvers as needed to distribute the individual satellites into a variety of orbits. This would enable a service provider to launch the host satellite into space. Once the host is deployed in space, it can then dispense single-board satellites as commanded. In some embodiments, these single-board satellites can be dispensed quickly upon the host’s deployment into space, or can be dispensed over a much longer period of time, such as months or years. In some embodiments, each single-board satellite has its own actuator and they may be dispensed in any order, and some (or one) may be dispensed at one point in time and some much later.

[0040] As satellites are dispensed from structure 400 shown in Fig. 4, the act of dispensing a satellite will impart an acceleration, known as a delta- V, on the host satellite. In some embodiments, a host satellite includes structure 400 and also includes a second structure, identical to structure 400, which is mounted facing in the opposite direction as that of structure 400, and the single board satellites can be dispensed in pairs, one from each structure, thereby minimizing the delta-V to the host satellite.

[0041] Fig. 5 is a diagram of a single-board satellite (or “SBS”) 501, in accordance with some implementations. Like SBS 201 of Fig. 2, single-board satellite 501 houses satellite components 502 which are similar to components 202 discussed herein with respect to SBS 201. However, SBS 501 includes four walls 503, 504, 505, and 506 around the side of the board, three of which are shown as 503, 504, and 505. The fourth wall 506 is shown with dashed lines and is attached to the front of SBS 501 as shown in this figure. The walls 503, 504, 505, and 506 are taller than all of the components 502 of SBS 501 such that multiple SBSAtty. Docket No. 108-10567W001 501 units can be stacked on top of each other with only the walls of each unit touching, as shown for example in Fig. 6.

[0042] The four satellite walls 503, 504, 505, and 506 can optionally deploy after SBS 501 ia launched. For example, they may house solar panels, antennas, probes, magnetorquers, or other similar components. The four walls 503, 504, 505, and 506 may deploy and stretch out into a single structure, or they may form two two-wall structures, or any combination.

[0043] Because satellite 501 is surrounded by walls 503, 504, 505, and 506, and because the walls are taller than the components on the board, multiple SBS 501 satellites can be stacked together so that only the walls of the satellites touch each other. In this arrangement, the tops and bottoms of the walls may be coated suitably to reduce friction.

[0044] As with satellite 201, satellite 501 may include an on-board payload or a daughtercard hosting a payload. Advantages of each arrangement are similar to those discussed above with respect to SBS 201 of Fig. 2.

[0045] Fig. 6 shows an example of a satellite 501 being deployed via an alternate embodiment of a deployment mechanism. It is being pushed horizontally by an actuator, not shown. As with satellite 201, the other stacked satellites may be the same or different. The actuator may be any suitable one, such as discussed above, with the added constraint that it needs to be able to reset, so that another satellite can slide into place and be ready for subsequent deployment.

[0046] Fig. 7 shows the same example, but in side view and with the housing shown in crosssection. The satellites are stacked vertically. The opening is only large enough to let out one satellite at a time. Actuation system 701, which may include a spring as shown, provides a vertical pushing force so that remaining satellites are shoved to the top and another satellite is soon available for launch. This system 701 can use springs, pistons, solenoids, worm gears, or any combination of mechanisms known in the art. Actuation system 702 provides a horizontal pushing force so as to deploy one satellite at a time. Door 703 keeps the satellites inside until it is time to deploy one (or more) and works in concert with actuation system 702. As with the other embodiment, the structure shown in Fig. 7 is preferably housed inside a host satellite.

[0047] Fig. 8 shows a rotary actuator 801. As the actuator rotates, it provides horizontal motion to the satellite 501 that is being dispensed, and the actuator will work equally well with the other embodiment, such as satellite 201. This actuation system 801 provides for well-controlled delta-V on the satellite being dispensed because the rotation speed is correlated to deploymentAtty. Docket No. 108-10567W001 speed in a way that can be designed, measured, and calibrated. The curve of the actuator can be designed to provide a controlled linear acceleration to the back wall of the satellite being deployed. If another stack of satellites is placed opposite to the one shown, the actuation system can deploy two satellites at the same time, which minimizes the delta-V to the host system. Rotary actuator 801 can move 90 degrees to dispense one satellite and then move back in the opposite direction to reset, or it can continue and move an additional 90 degrees to reset. When used in connection with satellite 501, the area near the center of the actuator can be chamfered so that the next satellite only slides into position after the rotary actuator 801 has returned to its starting position (i.e., the position shown in Fig. 8). Rotary actuator 801 can be driven by a servomotor, stepper motor, or any suitable motor known in the art. Rotary actuator 801 can include features such as holes or electrical contacts, that permit the host satellite to measure its position and confirm that it is operating correctly.

[0048] As shown in Fig. 8, pusher 801 has radius 810, and SBS device 501 has length 811. Although not shown, the chamber in the host housing the SBS (when stowed) has a length approximately equal to length 811. Preferably, radius 810 is greater than length 811 so that pusher 801 forces SBS 501 completely out of the host. Near the region 812, the shape is flat (parallel to the sides of SBS device 501) so that when pusher 801 returns to the stowed position the next SBS (not shown) can come into position.

[0049] Fig. 9 is an example deployment step. At the top, the two SBS devices 501 and 502 are stowed inside a host. The rotation of the pusher 801 causes both SBS devices to be propelled outward as shown at the bottom of the figure. This figure shows an embodiment in which pairs of SBS devices are deployed at once, minimizing the delta-V on the host satellite. Each of the SBS devices shown in Fig. 9 may be at the top of a stack as shown in Fig. 7.

[0050] One concern with satellites in general, and with smaller satellites in particular, is that, once they have completed their useful life, they can become "space junk". Space junk is a reference to the fact that the satellite no longer serves a useful purpose and yet poses a hazard to other satellites. While there is no way to completely guarantee a satellite will not become space junk (e.g. their electronics can fail early and leave the satellite in an uncontrolled state), one way to minimize the risk is to guarantee that the satellite can easily be tracked from Earth. One measure of a structure's ability to be tracked is its "radar cross section." Satellites such as satellite 201 and satellite 501 can be designed specifically to increase radar cross section. ForAtty. Docket No. 108-10567W001 example, sharp angular metal features, such as carefully designed circuit-board ground planes, can increase it. If necessary, features such as radar retroreflectors can be mounted on the satellite. It is the case that the process of licensing the satellite for deployment in space may well require a minimum radar cross section, and it will need to be well controlled.

[0051] Another threat is that part of the satellite can come loose and form a much tinier piece of space junk. This may actually be more dangerous, inasmuch as small pieces can be very difficult to track. Known design techniques, such as the use of conformal coatings and the use of multiple methods of fastening, can minimize this risk.

[0052] One of the ways that the satellites and their launcher can be used is to deploy an entire constellation of satellites quickly. For example, a host satellite can be deployed, ordered to remain inactive in orbit, be activated quickly some time later, and deploy dozens of single- board-satellite-bus satellites rapidly. This "constellation on demand" concept can enable deployment in response to some action-forcing event such as loss of an existing constellation or some transient event, such as a solar storm, that warrants detailed study.

[0053] Once deployed, the satellites can work cooperatively. For example, if equipped with cameras, they can perform stereoscopic imaging. Images from multiple satellites can be combined using known image-combining techniques. Satellites can organize an ad hoc mesh radio network and use the mesh interconnections to pass along telemetry and payload measurements. The network can route high-priority messages to a satellite that is passing over a ground station. With deployment of a sufficiently high number of satellites, the likelihood of one member of the constellation passing over a ground station can be made quite high. The mesh topology provides nearly constant contact, even though each individual satellite only rarely passes over an individual ground station.

[0054] Because the constellation can route messages over its mesh network, and because downlinks to ground stations can be tightly controlled, the constellation may have relaxed radio licensing requirements. For example, it is possible that a constellation may have nearly constant presence over a single ground station, thereby only needing a license for that specific station.

[0055] In some embodiments, an SBS (e.g., SBS 201 or 501) is designed to be deployed in large numbers, and the radio system of each SBS may be programmed to work with other SBS devices. For example, they may interconnect to form a mesh network. Each such SBS can be customized (e.g., with a serial number), and in some embodiments this information can be usedAtty. Docket No. 108-10567W001 to adjust radio properties, such as by tying time delays or message priorities to serial numbers. This enables SBS radio networks to work deterministically and under control of programming that occurs before launch. Similarly, these parameters may be reprogrammed in orbit as needed.

[0056] One region of space that is particularly challenging is very low earth orbit (VLEO). This region of space is difficult for satellites because the altitude is so low that atmospheric drag causes satellites to drop out of orbit relatively quickly. Conventional satellites can only remain in VLEO if they have sufficient propulsion to boost altitude repeatedly.

[0057] One advantage of the single board satellite architecture is that the cost of each individual satellite is so low that a short lifetime in VLEO is acceptable. A host satellite can be deployed near VLEO and dispense new satellites into VLEO as older ones lose orbit. The ability to dispense individual satellites and to apply a well-controlled delta-V when dispensed are important for this strategy to be successful.

[0058] The single board satellite architecture has an advantage in VLEO. Because the satellite has low mass and relatively large surface area, it has significant differences in on-orbit drag depending on its orientation. This enables such a satellite to go into a high-drag configuration if a loss of altitude is desired and transition into a low-drag configuration for stationkeeping.

[0059] Deployable tethers, as known in the art, can also be used to gain or lose altitude by applying voltages and currents. The small mass of the satellite is advantageous, reducing the power needed to obtain a desired delta-V.

[0060] In some embodiments, the host satellite receives instructions from Earth (or else is preprogrammed) to dispense individual satellites. In other embodiments, the individual satellites request (or command) to be dispensed by the host. In this other embodiment, there would need to be a means of communication between the satellite and host, such as via the rails.

[0061] In some embodiments, the individual satellites may need a means of receiving power from the host satellite, such as to keep their batteries charged. Power connections can be wired, such as via the rails or satellite walls, or wireless. Wireless charging and powering techniques are known in the art.

[0062] In some embodiments, the individual satellites may need a means of communicating with the host satellite. One advantage of internal communications is that the host satellite can act as a relay between a ground station and the individual satellites, simplifying management of uplinks and downlinks. The system enables reprogramming individual satellites (such as byAtty. Docket No. 108-10567W001 updating tasking orders or even downloading new software) on orbit. The communications can occur over wired systems, such as via the rails or satellite walls, or wireless. Wireless communications techniques, such as Bluetooth Low Energy, are known to the art and usable.

[0063] In some embodiments, data from each individual SBS device may be combined into a global model as, for example, disclosed in co-pending U.S. Patent Application No. 18 / 664,407 , filed on May 15, 2024 and entitled “Space Weather Measurement Systems and Methods”, which is hereby incorporated by reference in its entirety.

[0064] Fig. 10 is a flowchart of an example method 1000 associated with the operation of a single board satellite or a collection of single board satellites, in accordance with some implementations. Method 1000 starts at 1002 which is the deployment stage which includes deploying one SBS or a collection of SBSs (e.g. SBS 201 or 501) from the containment mechanism (such as the SBS assemblies shown in Figs. 3, 4, 6-9). A large number of SBSs can be released in a “cloud” or “constellation”. For example, 50 - 100 SBSs may be released at a time. Alternatively, a few SBSs may be released at a time over a longer period, such as months or years. The SBSs can remain unpowered and in the containment mechanism. In an alternate embodiment, the SBSs may be powered up prior to deployment for self-test, programming, or battery charging. Care must be taken so that the boards do not collide as they exit the deployer. Typically, the boards are deployed in the 'retrograde' direction or an 'orbit normal' direction relative to a host satellite, so that collision with the host is avoided. The method continues to 1002.

[0065] At 1002, the activation stage, upon release, the SBSs may become activated. Other use cases see SBSs activating once they enter a sun-facing orientation, allowing for positive power to the solar cells. SBSs may or may not contain a solar cell or a battery, but typically contain one or both. Once activated, the SBSs may or may not enter a 'wait' period to allow for separation of nodes in the cloud before executing their function. Some SBSs have active attitude control and may re-orient in this stage to better align their solar cells or their radio antennas. Sensors may be deployed in this stage. Location and attitude are ascertained in this stage if applicable. The method continues to 1004.

[0066] At 1004, the execution stage, the cloud begins to execute its primary function in this stage. For position-navigation-timing (PNT) operation, each node in the cloud may ascertain and broadcast their location. For a multi-node mesh network, each node may communicateAtty. Docket No. 108-10567W001 with nearby nodes in collaboration. For science gathering, each node may execute payload operation and link information to ground stations without inter-node communication. For dispersed cloud computing, each node may communicate with a single relay completing the ground link, or a single relay communicating with a host satellite that will complete the ground link. The method continues to 1006.

[0067] At 1006, the disposal stage, a cloud of SBSs is disposed of in a controlled manner, given concerns of manufacturing space debris. SBSs with attitude control may actively deorbit by increasing their drag profile. Some SBSs include deployable tethers or area-modifiers for active deorbit. Clouds may be deployed into low-earth or very-low-earth orbit for rapid deorbit, as the area-to-mass ratio is very high.

[0068] In some embodiments, SBSs disclosed herein can be used as 'nodes' in a large 'cloud', comprised of 50 - 100 SBSs that can be dispensed from a host satellite as disclosed herein. An optimization to be made are missions where many satellites may be used over a short amount of time. A cloud of SBSs may not replace one satellite with a mission life of 5 or 10 years but may serve as a medium to conduct a short 3- to 6-month mission where many satellites may be rapidly deployed. There are multiple cloud constructions, including: Position, Navigation, and Timing (PNT), Rapid-Response Mesh Network (RRMN), Dispersed Information Gathering (DIG), Rapid-Response Information Gathering (RRIG), Dispersed Computing Cloud (DCC), and Validation and Verification (V&V), which are discussed below.

[0069] Position, Navigation, and Timing (PNT):

[0070] Nodes in a cloud may individually ascertain and broadcast their location. The broadcast may or may not contain encryption. This location message may be received on the ground, or by other satellites. These location broadcasts may be used to ascertain location in space in circumstances where extreme precision is required, and may benefit from multi-node PNT, in emergency circumstances when GPS constellation is unavailable, damaged, or maliciously spoofed, or in circumstances where GPS constellation is unavailable, e.g., cislunar or lunar operation.

[0071] These nodes may be rapid- response capable. For instance, a satellite may contain a canister containing 50 SBSs to be deployed as emergency response in the event of failure or attack. The canister may sit unused for years before being deployed. After their use is realized,Atty. Docket No. 108-10567W001 they may be rapidly de-orbited to not create space debris. They can be used as emergency response for a 3- to 6-month temporary solution, and do not serve as a long-term solution.

[0072] Rapid-Response Mesh Network (RRMN):

[0073] Nodes in a cloud may be used to propagate radio communications over a wide area. A host satellite may contain a canister of a large number of SBSs to be deployed in emergency circumstances, e.g., antenna failure, malicious attack, or ground station failure. Deploying a mesh network cloud will allow the host satellite to communicate with each node, and each node may propagate this message or communicate with other nodes to propagate this message, until it is received on the ground or by another satellite. These may be used as a rapid response in emergency, or to communicate where ground stations are inaccessible — for instance, a satellite on the far side of the moon may use a mesh network cloud to propagate its message around the moon to a host satellite or ground station, or vice-versa.

[0074] Dispersed Information Gathering (DIG):

[0075] A cloud may be architected such that each node contains scientific instruments, or the SBS itself could be used in gathering information. For instance, each node could contain a magnetometer to allow for 50- or 100-node mapping of a magnetic field rapidly over a wide area, or a space weather sensor to rapidly ascertain the state of space weather inside a specific volume. The SBS itself could be used to determine information about drag or atmospheric density or temperature, or could be used to measure lunar gravity imbalances, etc.

[0076] These serve as a complement to existing scientific acquisition methods. A cloud of SBSs can obtain hundreds of satellites-worth of information in a short time, with the constraint that the mission only lasts for a short time. Using this technology, a tradeoff is to be made. One satellite can obtain a small amount of information over the course of many years, and SBSs can be used to obtain a large amount of information in a short amount of time, albeit the mission lifetime itself is relatively short.

[0077] Rapid-Response Information Gathering (RRIG):

[0078] Complementing dispersed information gathering, rapid- response information gathering may be used in response to events as they occur. For instance, a satellite may contain a canister containing a large number of nodes to be rapidly deployed in response to a space weather event to map its severity and location precisely in a very short amount of time. Another use case is using a cloud of SBSs to map a nuclear attack to see the size and severity of theAtty. Docket No. 108-10567W001 plasma generated by deploying a cloud into the area. With 50 or 100 nodes in the cloud, a cohesive 3D dataset can be obtained extremely rapidly.

[0079] Dispersed Computing Cloud (DCC):

[0080] Nodes in a cloud may communicate with the ground directly, or may be used in a dispersed computing cloud. Nodes in a dispersed computing cloud do not communicate with the ground directly but communicate with each other to relay to a single or a small number of 'mothernodes,' which handle inter-node communication as well as node-to-ground communication. This mothernode may be a SB S itself or may be the host satellite that deployed the nodes, or may be the canister itself. The “mothernode” may change as different SBSs move in and out of range of groud stations.

[0081] Validation and Verification (V&V):

[0082] Clouds of SBSs are useful in generating large amounts of data in a short period of time. Each node in a cloud may contain new or untested space technology and obtain hundreds of hours-worth of space environment operation in a few real-time hours. For instance, a new processor may be placed on 100 SBSs and released into Low Earth Orbit. The cloud only exists in space for one month, but the sum total of information gathered amounts to 100 unit-months (roughly 72,000 unit-hours) of space operation for validation and verification of design. This does not serve as a replacement to long-term survivability studies, but seeks to complement validation of space components in a rapid and cost-effective way. Software payloads, such as computations or radio protocols may be rapidly verified as well.

[0083] For the cost of a single CubeSat, one may launch 100 SBSs and within a month acquire hundreds of hours of space operation across 100 products. Another use case is a constellation of CubeSats to serve as deployers for V&V clouds. If a customer wishes to verify software in a space environment, the software may be uplinked and immediately deployed for hundreds of satellites-worth of software verification within a few hours of real-world time, for relatively low cost. This allows for verification across differing temperatures, orientations, radiation and space weather levels, and different day-night cycles simultaneously in a short amount of time.

[0084] The embodiments and examples described above are presented to illustrate and explain the present disclosure and to enable persons of ordinary skill in the art to make and use embodiments of the present disclosure. However, such persons will recognize that theAtty. Docket No. 108-10567W001 embodiments and examples are for illustration and example only, and are not intended to be exhaustive or to limit the scope and spirit of the present disclosure or of the following claims.

[0085] It will be appreciated that the modules, processes, systems, and sections described above can be implemented in hardware, hardware programmed by software, software instructions stored on a nontransitory computer readable medium or a combination of the above. A system as described above, for example, can include a processor configured to execute a sequence of programmed instructions stored on a nontransitory computer readable medium. For example, the processor can include, but not be limited to, a personal computer or workstation, a single board computer, or other such computing system that includes a processor, microprocessor, microcontroller device, or is comprised of control logic including integrated circuits such as, for example, an Application Specific Integrated Circuit (ASIC), a field programmable gate array (FPGA), a graphics processing unit (e.g., GPGPU or GPU) or the like. The instructions can be compiled from source code instructions provided in accordance with a programming language such as Java, C, C++, C#.net, assembly or the like. The instructions can also comprise code and data objects provided in accordance with, for example, the Visual Basic™ language or another structured or object-oriented programming language, assembly language, machine language, or another programming language. The sequence of programmed instructions, or programmable logic device configuration software, and data associated therewith can be stored in a nontransitory computer-readable medium such as a computer memory or storage device which may be any suitable memory apparatus, such as, but not limited to ROM, PROM, EEPROM, RAM, flash memory, disk drive and the like.

[0086] Furthermore, the modules, processes systems, and sections can be implemented as a single processor or as a distributed processor. Further, it should be appreciated that the steps mentioned above may be performed on a single or distributed processor (single and / or multicore, or cloud computing system). Also, the processes, system components, modules, and sub-modules described in the various figures of and for embodiments above may be distributed across multiple computers or systems or may be co-located in a single processor or system. Example structural embodiment alternatives suitable for implementing the modules, sections, systems, means, or processes described herein are provided below.Atty. Docket No. 108-10567W001

[0087] The modules, processors or systems described above can be implemented as a programmed general purpose computer, an electronic device programmed with microcode, a hard-wired analog logic circuit, software stored on a computer-readable medium or signal, an optical computing device, a networked system of electronic and / or optical devices, a special purpose computing device, an integrated circuit device, a semiconductor chip, and / or a software module or object stored on a computer-readable medium or signal, for example.

[0088] Embodiments of the method and system (or their sub-components or modules), may be implemented on a general-purpose computer, a special-purpose computer, a programmed microprocessor or microcontroller and peripheral integrated circuit element, an ASIC or other integrated circuit, a digital signal processor, a hardwired electronic or logic circuit such as a discrete element circuit, a programmed logic circuit such as a PLD, PLA, FPGA, PAL, GP, GPU, or the like. In general, any processor capable of implementing the functions or steps described herein can be used to implement embodiments of the method, system, or a computer program product (software program stored on a nontransitory computer readable medium).

[0089] Furthermore, embodiments of the disclosed method, system, and computer program product (or software instructions stored on a nontransitory computer readable medium) may be readily implemented, fully or partially, in software using, for example, object or object- oriented software development environments that provide portable source code that can be used on a variety of computer platforms. Alternatively, embodiments of the disclosed method, system, and computer program product can be implemented partially or fully in hardware using, for example, standard logic circuits or a VLSI design. Other hardware or software can be used to implement embodiments depending on the speed and / or efficiency requirements of the systems, the particular function, and / or particular software or hardware system, microprocessor, or microcomputer being utilized. Embodiments of the method, system, and computer program product can be implemented in hardware and / or software using any known or later developed systems or structures, devices and / or software by those of ordinary skill in the applicable art from the function description provided herein and with a general basic knowledge of the software engineering and computer networking arts.

[0090] Moreover, embodiments of the disclosed method, system, and computer readable media (or computer program product) can be implemented in software executed on aAtty. Docket No. 108-10567W001 programmed general purpose computer, a special purpose computer, a microprocessor, or the like.

[0091] It is, therefore, apparent that there is provided, in accordance with the various embodiments disclosed herein, methods, systems and computer readable media for singleboard satellite systems and methods.

[0092] While the disclosed subject matter has been described in conjunction with a number of embodiments, it is evident that many alternatives, modifications and variations would be, or are, apparent to those of ordinary skill in the applicable arts. Accordingly, Applicants intend to embrace all such alternatives, modifications, equivalents and variations that are within the spirit and scope of the disclosed subject matter.

Claims

Atty. Docket No. 108-10567W001Claims:What is claimed is1. A satellite apparatus comprising: a first stack of single board satellites; a second stack of single board satellites; a pusher device disposed between the first stack of single board satellites and the second stack of single board satellites; the first stack of single board satellites comprising: a plurality of single board satellites including a top single board satellite at a top of the first stack of single board satellites, a next single board satellite disposed below the top single board satellite, and a bottom single board satellite at a bottom of the first stack of single board satellites, and a first spring mechanism disposed below the bottom single board satellite and configured to move the first stack of single board satellites in a direction from the bottom single board satellite to the top single board satellite; the second stack of single board satellites comprising: a plurality of single board satellites including a top single board satellite at a top of the second stack of single board satellites, a next single board satellite disposed below the top single board satellite, and a bottom single board satellite at a bottom of the second stack of single board satellites, and a second spring mechanism disposed below the bottom single board satellite and configured to move the second stack of single board satellites in a direction from the bottom single board satellite to the top single board satellite; the pusher being configured to rotate to eject the top single board satellite of the first stack of single board satellites and the top single board satellite of the second stack of single board satellites, the top single board satellite of the first stack of single board satellites and the top single board satellite of the second stack of single board satellites being ejected contemporaneously when the pusher is rotated;Atty. Docket No. 108-10567W001 the first spring mechanism being configured to, after the top single board satellite of the first stack of single board satellites is ejected, move the next single board satellite of the first stack into a top position where the top single board satellite of the first stack was prior to the top single board satellite of the first stack being ejected; the second spring mechanism being configured to, after the top single board satellite of the second stack of single board satellites is ejected, move the next single board satellite of the second stack into a top position where the top single board satellite of the second stack was prior to the top single board satellite of the second stack being ejected.

2. The apparatus of claim 1, wherein each single board satellite of the plurality of single board satellites of the first stack comprises an at least partially detachable rail attached to the single board satellite.

2. The apparatus of claim 1, wherein when L is a length of each of the plurality of single board satellites of the first stack, a radius R of the pusher device is greater than L.

3. The apparatus of claim 1 , wherein the pusher is further configured to rotate again, after which the first spring mechanism causes the next single board satellite of the first stack to be moved to the top position where the top single board satellite of the first stack was prior to the top single board satellite of the first stack being ejected.

5. The apparatus of claim 1, wherein after being ejected the top single board satellite of the first stack is configured to partially detach its corresponding rail and deploy a portion of the rail as a boom of the top single board satellite of the first stack.

6. The apparatus of claim 1, wherein the pusher provides a controlled delta-V onto each single board satellite as it is dispensed.

7. The apparatus of claim 1, wherein the apparatus is configured to dispense the plurality of single-board satellites of the first stack and the plurality of single-board satellites of the second stack at substantially the same time.Atty. Docket No. 108-10567W0018. The apparatus of claim 1 wherein the apparatus is configured to dispense a first set of the single-board satellites, and, after dispensing the first set, dispensing a second set of the singleboard satellites, wherein the second set of single-board satellites is dispensed a month after the first set.

9. A satellite system comprising: a host satellite comprising a plurality of single-board satellites and a dispensing system configured to dispense the plurality single-board satellites in any order; the dispensing system comprising rails for each single board satellite of the plurality of single board satellites and an actuation system to eject each of the plurality of single board satellites out of the host satellite; and each of the plurality of single-board satellites comprising flat regions on two opposite sides thereof, the flat regions being configured to fit inside the rails of the dispensing system.

10. The system of claim 9, wherein the actuation system is configured to provide a controlled delta-V onto its corresponding single-board satellite as the satellite is dispensed.

11. The system of claim 9, wherein the flat regions are used to house flat satellite structures.

12. The system of claim 11, wherein the flat satellite structure is an antenna or solar panel.

13. The system of claim 9, wherein the system is configured to eject the single-board satellites over a short period of time.

14. The system of claim 9, wherein the system is configured to dispense a first set of the singleboard satellites, and, after dispensing the first set, dispensing a second set of the single-board satellites, wherein the first and second sets are ejected at different times.

15. The system of claim 9, wherein the system is configured to dispense the single-board satellites in any order.Atty. Docket No. 108-10567W00116. The system of claim 9, wherein the first single-board satellite is dispensed at least one month after the host satellite has been put into orbit.

15. A method of dispensing single board satellites, the method comprising: providing a host satellite, the host satellite comprising a plurality of single-board satellites and a single-board satellite dispensing system configured to dispense the plurality single-board satellites in any order; determining, at the host satellite, a controlled orientation of the single-board satellite dispensing system such that that the delta-V imparted on one or more of the plurality of singleboard satellites upon ejection achieves a controlled orbital effect; orienting, at the host satellite, the single-board satellite dispensing system into the determined controlled orientation; and ejecting, after the orienting, the one or more of the plurality of single-board satellites such that that the delta-V imparted on the one or more of the plurality of single-board satellites upon ejection achieves the controlled orbital effect.

16. The method of claim 15, wherein each single board satellite of the plurality of single board satellites of the first stack comprises an at least partially detachable wall attached to the single board satellite.

17. The method of claim 15, wherein the dispensing system further comprises rails into which each single board satellite of the plurality of single board satellites is slotted, the rails not being attached to any of the plurality of single board satellites.

18. The method of claim 15, wherein the dispensing system further comprises an actuator device, and when L is a length of each of the plurality of single board satellites, a radius R of the actuator device is greater than L.

19. The method of claim 15, wherein the ejecting comprises ejecting the plurality of singleboard satellites at substantially the same time.Atty. Docket No. 108-10567W00120. The method of claim 15, wherein the ejecting comprises ejecting a first set of the singleboard satellites, and the method further comprises: after ejecting the first set, ejecting a second set of the single-board satellites, wherein the second set of single-board satellites is dispensed at least a month after the first set.

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