阅读说明：本技术 航天器服务装置及相关组件、系统和方法 (Spacecraft service device and related components, systems and methods ) 是由 J·G·尼克尔森 D·C·特雷西勒 O·B·奥尔蒂斯 J·D·雷维尔 B·M·黑克曼 R· 于 2020-01-14 设计创作，主要内容包括：本发明涉及航天器服务装置或吊舱及相关方法,其可以被配置为从运载航天器部署并且包括至少一个航天器服务部件,所述至少一个航天器服务部件被配置为在目标航天器上执行至少一项服务操作。航天器服务装置可以被配置为在航天器服务装置从运载航天器部署之后从初始轨道运输到另一轨道。(The invention relates to a spacecraft service device or pod and related methods that may be configured to be deployed from a launch spacecraft and include at least one spacecraft service component configured to perform at least one service operation on a target spacecraft. The spacecraft service assembly may be configured to be transported from an initial orbit to another orbit after deployment of the spacecraft service assembly from the launch spacecraft.)

1. A spacecraft service unit, comprising:

a body configured to be deployed from a launch vehicle on an initial orbit other than a geosynchronous orbit;

at least one spacecraft service component configured to perform at least one service operation on a target spacecraft while coupled to the target spacecraft;

a thruster assembly configured to change at least one of an orbit, a velocity, or a momentum of the spacecraft service device; and

a docking mechanism for coupling the body to the target spacecraft, wherein the thruster assembly is configured to transport the body from the initial orbit to the geosynchronous orbit after deployment of the body from the launch spacecraft.

2. The spacecraft service assembly of claim 1 wherein the spacecraft service assembly is configured to interface with the target spacecraft and with another spacecraft separate from the launch spacecraft.

3. The spacecraft service device of claim 2, wherein the launch spacecraft is configured to rendezvous with the spacecraft service device to deliver the spacecraft service device to the target spacecraft and to couple the spacecraft service device to the target spacecraft.

4. The spacecraft service assembly of claim 1, wherein the thruster assembly is further configured to change at least one of an orbit, a velocity, or a momentum of the target spacecraft when the body is coupled to the target spacecraft.

5. The spacecraft service device of claim 1, further comprising a payload carried by the spacecraft service device and configured to be delivered to the target spacecraft.

6. The spacecraft service assembly of claim 1, wherein the thruster assembly is configured to modify an orbit of the spacecraft service assembly to position the spacecraft service assembly in proximity to the target spacecraft.

7. A spacecraft service unit, comprising:

a body configured to be deployed from a launch spacecraft on an initial orbit other than a final destination orbit of the spacecraft service device;

at least one spacecraft service component configured to perform at least one service operation on a target spacecraft while coupled to the target spacecraft; and

a docking mechanism for coupling the body to the target spacecraft, wherein the body is configured to be transported from the initial orbit to the final destination orbit after deployment of the body from the launch spacecraft, and wherein the docking mechanism is configured to be coupled to the target spacecraft with the aid of another coupled spacecraft configured to hold and position the body relative to the target spacecraft.

8. The spacecraft service set of claim 7 further comprising a thruster assembly configured to transport the body from the initial orbit to the final destination orbit after deployment of the body from the launch spacecraft.

9. The spacecraft service assembly of claim 8 wherein said spacecraft service assembly lacks the ability to independently rendezvous and interface with said target spacecraft.

10. The spacecraft service assembly of claim 7 wherein the spacecraft service assembly is configured to be positioned adjacent to the target spacecraft using only mechanisms of another individual spacecraft.

11. A method of servicing a spacecraft, the method comprising:

deploying the pod on an initial orbit lower than the geosynchronous orbit;

transporting the pod from the initial orbit substantially to the geosynchronous orbit;

coupling the pod to the spacecraft in the geosynchronous orbit; and

performing at least one spacecraft service operation after coupling the pod to the spacecraft.

12. The method of claim 11, further comprising assisting the coupling of the pod to the spacecraft by means of an additional onboard spacecraft that is decoupled from both the pod and the spacecraft prior to the coupling.

13. The method of claim 11, further comprising, after transporting the pod from the initial orbit substantially to the geosynchronous orbit:

approaching the spacecraft by means of an additional launch spacecraft holding the pod, the additional launch spacecraft being decoupled from both the pod and the spacecraft prior to the coupling;

bringing the additional launch spacecraft holding the pod into association with the spacecraft; and

coupling the nacelle to the spacecraft by means of the additional launch spacecraft.

14. The method of claim 11, wherein transporting the pod from the initial orbit to the geosynchronous orbit comprises driving the pod from the initial orbit to the geosynchronous orbit via a propeller assembly of the pod.

15. The method of claim 11, wherein transporting the pods from the initial orbit to the geosynchronous orbit comprises, after the pods have been deployed on the initial orbit by a separate launch spacecraft, carrying the pods from the initial orbit to the geosynchronous orbit with a launch spacecraft.

16. The method of claim 11, wherein performing at least one spacecraft service operation comprises adjusting at least one of orbit, velocity, or momentum of the spacecraft with a thruster assembly of the pod.

17. The method of claim 11, wherein performing at least one spacecraft service operation comprises delivering at least one spacecraft component to the spacecraft with the pod.

18. A spacecraft service unit, comprising:

a thruster assembly comprising at least one thruster, wherein the thruster assembly is configured to change the orbit of the spacecraft service device from a first orbit to a second orbit while the spacecraft service device is not coupled to another spacecraft;

a body configured to be coupled to a target spacecraft by a launch spacecraft at a location adjacent the target spacecraft;

at least one spacecraft service component configured to perform at least one service operation on the target spacecraft while the body is coupled to the target spacecraft, wherein the at least one spacecraft service component includes the thruster assembly, and the thruster assembly is further configured to change at least one of orbit, speed, or momentum of the target spacecraft while the body is coupled to the target spacecraft; and

a communication device configured to receive data related to at least one of orbit, velocity, or momentum of the target spacecraft from a transmission location remote from the spacecraft service device.

19. The spacecraft service unit of claim 18 wherein the communication unit is configured to receive the data from the transmission location remote from the spacecraft service unit and further comprising a computer programmed to operate the thruster assembly in response to the received data.

20. The spacecraft service assembly of claim 18 wherein the communication assembly is configured to receive the data via at least one of a wired or wireless communication channel.

Technical Field

Embodiments of the present disclosure generally relate to service devices for spacecraft (e.g., satellites). In particular, embodiments of the present disclosure relate to service devices that include one or more detachable service devices (e.g., pods or modules) and related devices, systems, assemblies, and methods.

Background

Thousands of spacecraft operate around the earth for performing various functions including, for example, telecommunications, GPS navigation, weather forecasting, and mapping. Like all machines, spacecraft regularly require service to extend their functional life. Services may include, for example, component repair, refueling, rail ascent, station keeping, momentum balance, or other maintenance. To accomplish this, the service spacecraft may be brought into orbit to dock with the customer spacecraft requiring maintenance, and extended life maintenance may be performed on the customer spacecraft after docking. Without extended life maintenance, these spacecraft can be taken out of service, replacement is often very expensive, and delivery times can be up to several years.

Various patents and publications have considered such spacecraft services and related features and problems, including U.S. Pat. nos. 3,508,723, 4,219,171, 4,391,423, 4,588,150, 4,664,344, 4,898,348, 5,005,786, 5,040,749, 5,094,410, 5,299,764, 5,364,046, 5,372,340, 5,490,075, 5,511,748, 5,735,488, 5,803,407, 5,806,802, 6,017,000, 6,299,107, 6,330,987, 6,484,973, 36 6,523,784, 6,742,745, 686 6,843,446, 6,945,500, 6,969,030, 7,070,151, 7,104,505, 7,207,525, 7,216,833, 7,216,834; U.S. patent publication nos. 2004/0026571, 2006/0145024, 2006/0151671, 2007/0228220, 2009/0001221, 2012/0112009, 2012/0325972, 2013/0103193, 2015/0008290, 2015/0314893, 2016/0039543 and 2016/0039544; european patent nos. ep 0541052, 0741655B1, 0741655B2 and 1654159; PCT publication nos. 2005/110847, 2005/118394, 2014/024199 and 2016/030890; japanese patent No. jph01282098; automated Rendezvous and Docking of spaccraft, Fehse, Wigbert, cambridge university Press (2003); On-Orbit serving sessions: challanges and Solutions for space Operations, Sellmaier, f. et al, space conference for 2010, AIAA 2010-; and "Towards a Standardized grading and reforming On-Orbit serving for Geo space craft", Medina, Alberto et al, "astronautics newspapers" 1341-10 (2017); DEOS-The In-Flight Technology modification of German's Robotics Approach to discharge malfunctionalized Satellites, Reindema, D.et al, The entire disclosure of each of these patents is hereby incorporated by reference.

However, a reliable and robust service spacecraft that provides multiple service options for the spacecraft can be cost prohibitive. On the other hand, a lower cost option may not provide the variety of service options and reliable and powerful service functions necessary for many applications.

Disclosure of Invention

Embodiments of the present disclosure include a spacecraft service assembly comprising: a body configured to be deployed from a launch vehicle on an initial orbit other than a geosynchronous orbit; at least one spacecraft service component configured to perform at least one service operation on a target spacecraft while coupled to the target spacecraft; a thruster assembly configured to change at least one of an orbit, a velocity, or a momentum of a spacecraft service device; and a docking mechanism for coupling the body to the target spacecraft, wherein the thruster assembly is configured to transport the body from the initial orbit to the geosynchronous orbit after deployment of the body from the launch spacecraft.

Embodiments of the present disclosure also include a spacecraft service assembly, comprising: a body configured to be deployed from a launch spacecraft on an initial orbit other than a final destination orbit of a spacecraft service device; at least one spacecraft service component configured to perform at least one service operation on a target spacecraft while coupled to the target spacecraft; and a docking mechanism for coupling the body to the target spacecraft, wherein the body is configured to be transported from the initial orbit to the final destination orbit after deployment of the body from the launch spacecraft, and wherein the docking mechanism is configured to be coupled to the target spacecraft with the aid of another coupled spacecraft configured to hold and position the body relative to the target spacecraft.

Embodiments of the present disclosure also include a spacecraft service assembly, comprising: a thruster assembly comprising at least one thruster, wherein the thruster assembly is configured to change the orbit of the spacecraft service device from a first orbit to a second orbit while the spacecraft service device is not coupled to another spacecraft; a body configured to be coupled to a target spacecraft by a launch spacecraft at a location adjacent the target spacecraft; at least one spacecraft service component configured to perform at least one service operation on a target spacecraft while the body is coupled to the target spacecraft, wherein the at least one spacecraft service component includes a thruster assembly, and the thruster assembly is further configured to change at least one of orbit, velocity, or momentum of the target spacecraft while the body is coupled to the target spacecraft; and a communication device configured to receive data relating to at least one of orbit, velocity or momentum of the target spacecraft from a transmission location remote from the spacecraft service device.

Embodiments of the present disclosure also include a method of servicing a spacecraft. The method comprises the following steps: deploying the pod on an initial orbit lower than the geosynchronous orbit; transporting the pod from the initial orbit substantially to the geosynchronous orbit; coupling the pod to a spacecraft in geosynchronous orbit; and performing at least one spacecraft service operation after coupling the pod to the spacecraft.

The above summary is not intended to describe each illustrated embodiment or every implementation of the present disclosure.

Drawings

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

Fig. 1A is a simplified schematic diagram of a spacecraft service system and a target spacecraft to be serviced in accordance with one or more embodiments of the present disclosure.

FIG. 1B illustrates an embodiment of a fuel tank supply apparatus that may be implemented on one or more devices of the spacecraft service system of FIG. 1A.

Fig. 2A is a simplified schematic diagram of a spacecraft service set in accordance with one or more embodiments of the present disclosure.

Fig. 2B is a simplified schematic diagram of a spacecraft service set in accordance with one or more embodiments of the present disclosure.

Fig. 2C-2K illustrate various embodiments of a coupling mechanism according to one or more embodiments of the present disclosure.

Fig. 2L is a perspective view of a spacecraft service assembly in accordance with one or more embodiments of the present disclosure.

Fig. 3 is a simplified schematic diagram of a task expansion nacelle according to one or more embodiments of the present disclosure.

Fig. 4 is a simplified schematic diagram of a mission extension nacelle attached to a spacecraft in two thrust vector directions in accordance with one or more embodiments of the present disclosure.

Fig. 5 is another simplified schematic diagram of a mission extension nacelle attached to a spacecraft in two thrust vector directions in accordance with one or more embodiments of the present disclosure.

Fig. 6 is a simplified schematic diagram of a re-provisioning apparatus of a spacecraft service system in accordance with one or more embodiments of the present disclosure.

Fig. 7-10 illustrate various embodiments of a spacecraft services apparatus including a plurality of pods coupled to the spacecraft services apparatus in accordance with one or more embodiments of the present disclosure.

Fig. 11 is a simplified schematic diagram of another configuration of a spacecraft service system and a target spacecraft to be serviced in accordance with one or more embodiments of the present disclosure.

Detailed Description

The illustrations presented herein are not meant to be actual views of any particular device, assembly, system, or component thereof, but are merely idealized representations that are employed to describe the illustrative embodiments. The drawings are not necessarily to scale.

As used herein, the term "substantially" for a given parameter means and includes to the extent that a given parameter, property, or condition satisfies a small degree of variance, e.g., within acceptable manufacturing tolerances, as will be understood by those skilled in the art. For example, a substantially satisfied parameter may be at least about 90% satisfied, at least about 95% satisfied, at least 99% satisfied, or 100% satisfied.

Embodiments of the present disclosure generally relate to spacecraft service devices for providing life-extending services to a spacecraft (e.g., a satellite or other vehicle) (otherwise referred to herein as a "customer spacecraft" or a "target spacecraft"). A spacecraft service system, assembly or device (e.g., spacecraft, carrier) may include one or more deployable spacecraft service devices, pods or modules (e.g., Mission Extension Pods (MEPs)) initially attached to or later captured by a spacecraft service device (e.g., MEP carriers (MEPMs) or Mission Robot Vehicles (MRVs)). The spacecraft service unit may then transfer the pod to/from the customer spacecraft. The spacecraft service re-supply can provide additional pods for spacecraft service equipment.

Nacelles (e.g., one nacelle, five nacelles, six nacelles, ten nacelles, fifteen pods, or more pods provided by a mother vessel) may be provided to a target spacecraft (e.g., may be individually deployed and/or attached to the spacecraft) to provide life extension services to the spacecraft including, for example, component repair, refueling, orbit ascent or other modification (e.g., out of orbit), repositioning, tilt pulldown, station keeping, momentum balancing, momentum adjustment, supply replenishment, providing new supplies or parts (components), and/or other maintenance. In some embodiments, the nacelle may be used to adjust the speed, positioning, and/or orbit of the spacecraft, including station holding, tilt pulldown, orbit repositioning, and handling. In some embodiments, the nacelle may be used to manage momentum and provide attitude control of the spacecraft. In some embodiments, the pod may be supplied with alternative or additional components. For example, the nacelle may be equipped with components (e.g., flight control components, avionics components (e.g., reaction wheels), motor components, communication components, power system components, sensor components, optical components, thermal control components, telemetry components, combinations thereof, and the like) that may be used to replace failed parts, supplement existing parts, and/or add parts to the spacecraft as well as selected functions and features. As a further example, the pod may include telemetry features such as, for example, optical devices that measure the position of the stars using photocells or cameras (e.g., star trackers). Such one or more devices may be fed on the nacelle to monitor and/or modify the travel characteristics (e.g., attitude) of the spacecraft.

In some embodiments, the spacecraft services device may deploy and attach one or more of the pods to a spacecraft in need of service using a robotic spacecraft services device (e.g., one or more robotic arms capable of one or more degrees of freedom via one or more end effectors for various tasks) for in-orbit satellite services. For example, the spacecraft service unit may deploy and attach one or more of the pods to a portion of the spacecraft (e.g., a breakaway loop, an engine, an external attachment, or any other suitable mechanical attachment or coupling structure). In some embodiments, the spacecraft services may capture one of the pods using a robotic service. In some embodiments, the spacecraft service unit itself may perform some service tasks before, during, and/or after deployment of the nacelle to the spacecraft.

Spacecraft service units shuttle between spacecraft in space and task extension pods may be mounted to spacecraft in need of service. In some embodiments, a spacecraft service device may attach a pod to a spacecraft and hold the pod attached for service. For example, the nacelle may be permanently attached to the spacecraft and essentially become another component of the spacecraft, which may or may not be in communication with the existing system of the spacecraft. In such embodiments, the pod may be configured to provide service for a selected amount of time (e.g., for short-term service and/or long-term service, e.g., within minutes, within weeks, within months, within years, or a combination thereof). In some embodiments, a spacecraft service unit or another similar device may remove the pod, replenish the pod (e.g., refuel the pod), and/or replace the pod after a selected amount of service. For example, a portion of the service system (e.g., a spacecraft service device or another portion, such as a resupply device discussed below) may revisit the pod to resupply (e.g., refill, supplement, etc.) the pod with one or more consumables (e.g., fuel, natural gas, parts, etc.). In some embodiments, the spacecraft service unit may attach an additional device (e.g., a tank) with such consumables to the nacelle. In some embodiments, the spacecraft service assembly may detach the pod from the spacecraft, supplement and/or retrofit the pod to reinstall the pod (e.g., reuse the pod) on the same or another spacecraft.

Once the pod is attached to the spacecraft, the pod can be activated and provide, for example, orbital maintenance by changing the speed (e.g., by providing av), including, for example, changing the direction of the spacecraft (e.g., by changing the orbit, position, or other orientation of the spacecraft). By providing speed changes to the overall mass of the spacecraft and mission extension nacelle at the correct time and direction, the mission extension nacelle can extend the on-orbit life of the spacecraft, for example, by replacing (e.g., completely replacing the propulsion function of the spacecraft, or by reducing the spacecraft fuel consumption rate required to maintain a desired speed, position, and orbit). The mission extension pod can provide such speed changes to the spacecraft according to a schedule derived from data relating to the spacecraft. In some embodiments, the data required for the schedule of dispatch may be preprogrammed into the task extension pod. In some embodiments, such schedules and other data may be sent to the mission extension pods after the pods have been launched and/or coupled to the spacecraft. In some embodiments, the nacelle may be configured to provide thrust (e.g., relatively low magnitude thrust) only to the aircraft without interacting with other systems or attributes of the spacecraft. In some embodiments, the nacelle may be configured to provide a torque around the spacecraft so that the spacecraft can adjust its momentum. In other embodiments, the nacelle may provide other services (e.g., as discussed herein) and/or may be in at least partial communication with one or more systems or subsystems of the spacecraft.

In some embodiments, the satellite services system may be configured to deliver or re-deliver pods to the spacecraft services device via a mission extended pod delivery or re-delivery device (MEPR) once the plurality of pods on the spacecraft services device have been reduced or exhausted. For example, once the supply of mission-extension pods is reduced or exhausted, the spacecraft service unit may obtain a supply of new pods (e.g., one pod, five pods, six pods, ten pods, fifteen pods, or more) to continue to provide life-extending services to the potential spacecraft.

A mission extension pod resupply device (e.g., a spacecraft) may carry multiple (e.g., 1, 2,3, 4,5, or more pods) to meet and supply a pod to a spacecraft service device. For example, a pod resupply device with a mission extension pod may be placed in geosynchronous orbit (GEO) or other orbit while the spacecraft service device converges to its location. Once the spacecraft service assembly approaches the task expansion pod re-supply assembly, one or more devices on the spacecraft service assembly and/or the pod re-supply assembly (e.g., a robotic arm of the spacecraft service assembly) may reposition the task expansion pod from the task expansion pod re-supply assembly to the spacecraft service assembly. In other embodiments, the pod resupply device may be configured to travel to a spacecraft service device. In other embodiments, one or more devices on the pod resupply device may be configured to supply the pod to a spacecraft service device or pod resupply device, and the spacecraft service devices may be configured to be coupled together or otherwise placed in physical communication in order to transfer one or more of the pods. In other embodiments, the pod resupply device may be configured to carry a plurality of pods (e.g., one, two, four, eight, sixteen, or more) to a different orbit than the spacecraft service device, at which point the pods may travel under their own propulsive and/or dynamic forces to the spacecraft service device.

In some embodiments, the mission extension pod resupply device may provide additional supplies or services to the spacecraft service device. For example, the pod resupply device may provide additional propellant for the spacecraft service equipment to be manipulated as desired. In some embodiments, the pod resupply device may transfer propellant to the spacecraft service device by refueling operations and/or by transferring the tank loaded with propellant from the resupply device to the service device (e.g., via one or more robotic arms on one or more of the spacecraft service device and the resupply device).

In some embodiments, for example, one or more of the spacecraft service equipment and the spacecraft for mission extension pod delivery may be performed by and/or include an improved disposable launch vehicle (EELV) secondary payload adapter (ESPA or ESPA ring) grade spacecraft, such as those developed by norrup grulman, northump Grumman, of foster chester, va, known as espaastar, or any other suitable type of equipment, spacecraft, or launch vehicle that may be capable of emerging in an appropriate geosynchronous or other orbit.

In some embodiments, one or more devices or components of the satellite services system may be handled, for example, by transporting them from a selected geosynchronous orbit to a geosynchronous dumping orbit (e.g., for spacecraft services devices and/or task expansion pod resupply devices) or by forgoing being in place on a spacecraft (e.g., for task expansion pods).

Fig. 1A shows a simplified schematic diagram of a spacecraft service system 10, wherein at least a portion of the spacecraft service system 10 may be operated to approach, capture, dock and/or service a device (e.g., another vehicle or spacecraft 20). However, in some embodiments, the spacecraft service assembly 100 may be configured to approach the spacecraft 20 and transfer one or more modules or pods 102 (e.g., task expansion pods 102) to the spacecraft 20, as discussed in more detail below.

Such spacecraft 20 may be in low earth orbit, medium earth orbit, geosynchronous orbit, beyond geosynchronous orbit, or in another orbit around an object such as the earth. The spacecraft 20 may include components such as an engine, a split ring, and any other type of feature known and/or implemented in the spacecraft art (e.g., propulsion devices or systems 22, fuel tanks 24, etc.) that may be used to provide for mechanical coupling of the nacelle 102 to the spacecraft 20. For example, the engine may be a liquid remote location engine, a solid fuel motor, a propeller, or other type of engine or motor. The engine may be positioned on a zenith deck of the spacecraft 20, which in the case of spacecraft orbiting the earth is the deck of the spacecraft that is positioned substantially opposite the earth.

As shown in fig. 1A, spacecraft service assembly 100 may be a stand-alone spacecraft designed to approach and serve spacecraft 20. The spacecraft service assembly 100 may facilitate providing services to the spacecraft 20 including station keeping, orbit ascent, momentum adjustment (e.g., unloading momentum about one or more axes), attitude control, repositioning, out of orbit, refueling, refuelling, dip-down, or other services that may be provided in-orbit. The spacecraft service assembly 100 includes one or more deployable pods or modules 102 that are initially attached to the spacecraft service assembly 100 or later captured by the spacecraft service assembly 100. The nacelle 102 may be provided to the spacecraft 20 (e.g., may be deployed and/or attached to the spacecraft) and may include service features 103 (e.g., shown in only one example of the nacelle 102 for clarity) for servicing (e.g., providing life extension services to the spacecraft 20), including, for example, component repair, replacement and/or addition, refueling, orbit ascent, station keeping, momentum balancing, supply replenishment, providing new supplies, and/or other maintenance.

As shown in fig. 1A, at least one pod may be provided from the spacecraft service assembly 100 and coupled to the spacecraft 20 (e.g., near or along an axis extending through the center of mass of the spacecraft) in order to provide such service.

In some embodiments, the spacecraft services system 10 can include a mission extension pod provisioning or re-provisioning device 30 configured to provision or re-provision the spacecraft services device 100 with a pod 102, for example, once a plurality of pods 102 on the spacecraft services device 100 have been depleted or exhausted. For example, once the supply of mission-extension pods 102 is reduced or exhausted, the spacecraft service assembly 100 may obtain a supply of new pods 102 (e.g., one pod, five pods, ten pods, fifteen pods, or more) to continue to provide life-extending services to the potential spacecraft 20. In some embodiments, the pod resupply device 30 with the mission extension pod 102 may be placed in geosynchronous orbit (GEO) while the spacecraft service device 100 converges to its location. Once the spacecraft service assembly 100 approaches the task expansion pod re-supply assembly 30, one or more devices on one or both of the spacecraft service assembly 100 and the pod re-supply assembly 30 (e.g., robotic arms on the spacecraft service assembly 100 discussed below) may reposition one or more of the task expansion pods 102 from the task expansion pod re-supply assembly 30 to the spacecraft service assembly 100. In some embodiments, one of the pod resupply device 30 and the spacecraft service set 100 may be configured to hold the other in order to reposition the mission extension pod 102. For example, the spacecraft service assembly 100 may be proximate to the pod resupply device 30 and docked or otherwise engaged with the resupply device 30. Once docked, the spacecraft services device 100 can transfer one or more of the pods 102 (e.g., using a robotic arm) from the resupply device 30 to the spacecraft services device 100. The spacecraft services unit 100 can then undock more nacelles and deploy them to other devices. In other embodiments, the pod resupply device 30 may be configured to travel to the spacecraft service set 100. In other embodiments, one or more devices (e.g., robotic arms) on pod re-supply device 30 may be configured to supply pod 102 to spacecraft service device 100.

To position nacelle 102 on target spacecraft 20, spacecraft services 100 may position and store nacelle 102 within an operating range of one or more mechanisms 122 (fig. 2A), the one or more mechanisms 122 configured to position, move, and/or mount nacelle 102. As described below, the mechanism may include one or more robotic arms 122 and/or another type of deployment device (e.g., a coupling mechanism), such as an extendable and/or expandable boom (boom), similar to the deployment device 160 discussed below, configured to secure the spacecraft services device 100 to the nacelle 102, as described below. In some embodiments, one or more robotic arms 122 may include one or more degrees of freedom, enabling arm 122 to move along one or more axes of motion. For example, in some embodiments, the arm 122 may comprise an extendable boom that is translatable along one axis of motion (e.g., similar to the deployment device 160 discussed below) or a device capable of rotating and/or translating along one or more axes of motion. If not enough work is available with the first single mechanism (e.g., an arm), a second mechanism (e.g., a second arm or some other device capable of moving or reorienting the nacelle 102) can optionally be implemented to move the nacelle 102 into the working range of the first mechanism for mounting the nacelle 102 on the target spacecraft 20.

For example, nacelle 102 may be positioned on or in the structure of spacecraft service unit 100 within the working range of one or more robotic arms. If not enough to work with a single arm, then an optional second arm or other device is used to move nacelle 102 into the working range of another robotic arm used to mount nacelle 102 to target spacecraft 20.

In some embodiments, nacelle 102 can be positioned on one or more detachable structures within the working range of one or more robotic arms. Once pod 102 is depleted (e.g., fully depleted), the detachable structure may be detached from spacecraft service set 100. In such embodiments, the fuel consumption of the spacecraft service set 100 may be reduced for later rendezvous and service activities.

In some embodiments, the pod 102 may be carried on another device (e.g., pod resupply device 30 launched with the spacecraft service device 100), and then after launch the pod 102 may be transferred to the spacecraft service device 100. For example, the spacecraft service assembly 100 can be used to tow the pod resupply device 30 to geosynchronous orbit or other orbit, and then the vehicles can be separated. The spacecraft service unit 100 can interface with the pod resupply device 30 using an interface mechanism on the spacecraft service unit 100 and a complementary structure or one or more devices on the pod resupply device 30. Once docked, one or more robotic arms on spacecraft service unit 100 can transfer one or more pods 102 from pod resupply device 30 to a storage location on spacecraft service unit 100. In this way, the overall mass of the spacecraft service assembly 100 is minimized for repeated transportation of the spacecraft service assembly 100 and for convergence with the target spacecraft 20, resulting in minimal fuel usage throughout the life cycle of the mission. The pod resupply device 30 can be cooperatively controlled to place it in a desired orbital position for the spacecraft services 100 to return and resupply the pod 102.

In some embodiments, and as will be discussed below, the pod 102 may use its own propulsion and/or power to change its orbit to meet the satellite services device 100. Once in the desired position, the spacecraft services 100 can capture the pod 102 using a docking mechanism, robotic arms, or other capabilities present on the spacecraft services 100. Prior to capture, the pod 102 may remain in orbit near the satellite services 100 or the target spacecraft 20 in order to reduce the transit time to the target spacecraft 20.

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

Spacecraft will typically use a propellant (e.g., xenon, hydrazine) to maintain position and orientation over the life of the mission. Depletion of such propellants typically results in the end of life of the mission. In some embodiments, the spacecraft service assembly 100, pod 102, and/or re-supply assembly 30 ("fuel supply") may provide additional propellant to another portion of the system 10 or to an external device (e.g., pod 102, spacecraft service assembly 100, and/or spacecraft 20 ("target")). In other embodiments, the fuel supply may function as a tank to supply other fuels or fluids, such as high pressure xenon, hydrazine, helium, dinitrogen tetroxide (NTO), green propellants, combinations thereof, or any other suitable fuel. In some embodiments, the selection of propellant or fuel may be based on the application of the nacelle 102 (e.g., based on the configuration of the spacecraft 20).

FIG. 1B illustrates an embodiment of such a fuel tank supply 140 of a fuel supply that may be implemented on one or more devices of system 10 (FIG. 1A). As shown in fig. 1B, in some embodiments, a conduit 142 on fuel tank supply 140 may supply fuel (e.g., high pressure xenon) in tank 141 to a regulator 143 (e.g., a mechanical and/or electrical regulator). The regulator 143 can control (e.g., reduce) the pressure to a level that can be used by the system of the target device. An additional conduit 144 may be positioned downstream of the regulator 143 and may be connected to a mating adapter 145. The mating adapter 145 can be connected to a coupler (e.g., a service port valve) of the target device that is in communication with the fuel of the target device. In some embodiments, such a mating adapter 145 of the fuel supply may include a connection fitting (e.g., a quick disconnect fitting, a cooperating service valve, and/or a simple mechanical service valve) for coupling with a tank of the target device. For example, such a mating adapter 145 can include a valve (e.g., a rotary valve or nut) that opens and closes a flow path. The mating adapter 145 can include a coupling member (e.g., a female coupling member) that can be attached to a coupler (e.g., a valve port) of a target device (e.g., a complementary male coupling member).

In some embodiments, the mated adapter 145 can be prepared by removing the cap or plug, and the target device can be prepared by removing any structure (e.g., a blanket and/or cap or plug) on the coupling of the target device. Once prepared, the mated adapter 145 is mechanically attached to the service valve of the target device, and one or more valves (e.g., on the target device and the fuel tank feed device 140) may be opened and pressure monitored (e.g., pressure detection in the system of the target device). This reduction in pressure may indicate that an incorrect pairing exists between the adapter of fuel tank supply device 140 and the paired adapter 145 of fuel tank supply device 140. Once the connection has been verified, the valve upstream of the mating adapter 145 may be moved to an open position and the fuel tank 141 will supply fuel to the target device's fuel tank. In embodiments where tank 141 of fuel tank supply 140 does not have pressure telemetry, the target device's system may be used to monitor fuel usage to determine if tank 141 of fuel tank supply 140 has reached depletion. As tank 141 of fuel tank supply 140 approaches exhaustion, tank 141 of fuel tank supply 140 may be removed from communication by closing a valve upstream of mating adapter 145, and the target device and a new tank may be connected to the target device (e.g., on the same fuel tank supply 140 by replacing the previous tank or on a different fuel tank supply that may enable the previous tank to remain connected). Such a fuel tank supply device 140 may include a service valve 146 for initially pressurizing the system, mechanical support for equipment and attachment to the target device, gripping accessories, and/or passive thermal control.

Fig. 2A shows a simplified schematic diagram of an embodiment of a spacecraft service device 100 (e.g., spacecraft service device 100 of fig. 1A). As shown in fig. 2A, the spacecraft services assembly 100 includes one or more deployable pods or modules 102 that are initially attached to the spacecraft services assembly 100. The spacecraft service assembly 100 may be a satellite or other spacecraft that is in orbit about an object.

To capture, deliver, attach, and/or retrieve the nacelle 102 to another spacecraft, the spacecraft service unit 100 may include a chemical or another type of reactive engine and/or may include an electric propulsion system. For example, the spacecraft service assembly 100 may include one or more propellers 104, a power system including a chemical and/or electrical propulsion source (e.g., a fuel tank 106 containing xenon propellant and/or hydrazine propellant for ion propellers), and a power processing unit 108. The propulsion system (e.g., including the thrusters 104) of the spacecraft service device 100 may enable the spacecraft service device 100 to move along one or more axes of motion (e.g., three translational axes and three rotational axes for a total of six axes of motion). Spacecraft service device 100 may include a solar cell array 110 (e.g., an orientable solar cell array), a battery 112, power conditioning electronics (e.g., a power distribution assembly 114), a control subsystem 116 (e.g., command and data processing, thermal control, guidance, navigation, and control), a communication subsystem 118 (e.g., Radio Frequency (RF) in communication with an associated antenna 120), and an accessory tool 121 (e.g., service parts and/or end effectors for one or more robots discussed below). Such components may enable the spacecraft service assembly 100 to be maneuvered into position proximate to another spacecraft to be serviced.

To capture, deploy, attach, and/or retrieve pod 102 to another spacecraft, spacecraft services apparatus 100 may include a deployment and/or removal apparatus (e.g., one or more moveable arms, such as robotic arm 122 having one, two, three, four, five, or six degrees of freedom), a long pole, and/or an extendable deployment apparatus, which may be coupled to a portion of pod 102 (e.g., an internal portion of an engine) via an associated imaging system (e.g., camera 124) and control and power systems (e.g., robotic avionics 126 and power supply 128), as discussed below. Such devices and components may be used to interface with the pod 102 on the spacecraft service unit 100 (e.g., such devices and components may be used to attach to the pod 102 on the spacecraft service unit 100). For example, one or more of robotic arms 122 may be used to couple to a pod 102 (e.g., via an end effector) and move the pod 102 into proximity of a target spacecraft to connect pod 102 to the spacecraft and release pod 102 after attachment.

In some embodiments, other devices and methods may be utilized to deliver and/or attach the nacelle 102 to the spacecraft. For example, the spacecraft service unit 100 itself may be oriented relative to the spacecraft to place a selected pod 102 in contact with the spacecraft, the spacecraft service unit 100 itself may capture or otherwise hold the spacecraft while the pod 102 is applied, the pod 102 may include one or more on-board systems for controlling and attaching the pod 102, the spacecraft service unit 100 may include a reusable and individually controllable unit having a propulsion unit controller configured to deliver the pod 102, or a combination thereof.

In some embodiments, spacecraft services 100 can deliver, attach, and/or retrieve pods 102 without the use of robotic arms. For example, with one or more pods 102 attached, the spacecraft services device 100 may rendezvous with a target spacecraft (e.g., utilizing sensors to detect a position and/or orientation of the target spacecraft, such as those discussed below). While the pod 102 is attached to the spacecraft service set 100, the coupling mechanism (also discussed below) of the pod 102 may be deployed and engaged with the target spacecraft. The pod 102 may be released from the spacecraft service set 100 and any remaining docking procedures may be completed before, during and/or after release in order to secure the pod 102 to the target spacecraft.

Regardless of the particular mechanism or feature used to capture, deploy, attach and/or retrieve the nacelle 102, the spacecraft services device 100 may be configured to deliver the nacelle 102 directly (e.g., via the mechanism and/or feature) to a location at a target spacecraft using one or more portions of the spacecraft services device 100. For example, the spacecraft services device 100 can capture, deploy, attach, and/or retrieve the pod 102 using only deployment mechanisms and/or features (e.g., one or more robotic arms 122, extendable and/or expandable docking mechanisms, etc.) that reside on (e.g., a portion of) the spacecraft services device 100. In some embodiments, deployment mechanisms and/or features residing only on the spacecraft service device 100 are used without any maneuvering (e.g., propulsion) devices on the nacelle 102. For example, rather than independently maneuvering and/or maneuvering nacelle 102 under its own power or propulsion to a position adjacent a target spacecraft, nacelle 102 can be maneuvered directly by spacecraft service unit 100. After moving into position, mechanisms and/or features of spacecraft services 100 (e.g., one or more robotic arms 122, extendable and/or expandable docking mechanisms) and/or features of nacelle 102 (e.g., a coupling mechanism such as deployment device 160) can be used to secure nacelle 102 to the target spacecraft. In some embodiments, nacelle 102 may be secured to a target spacecraft while nacelle 102 remains at least partially in contact with spacecraft service set 100. For example, once pod 102 is at least partially in contact with (e.g., secured to) a target spacecraft, pod 102 can be released from spacecraft service device 100.

In some embodiments, spacecraft service assembly 100 includes sensor components, such as rendezvous and proximity operations 130 (e.g., light detection and ranging 132, infrared sensors 134, and/or visible light sensors 136). Such components may enable the spacecraft service assembly 100 to monitor and/or detect other objects (e.g., the nacelle 102, other spacecraft when performing service-related functions). For example, one or more of the sensors (e.g., light detection and ranging 132, infrared sensors 134, and/or visible light sensors 136) may enable the spacecraft services device 100 to facilitate rendezvous and proximity operations (fig. 1A) with respect to the target spacecraft 20 in order to deploy, install, and/or remove the nacelle 102 (fig. 1A).

In some embodiments, one or more of the sensors (e.g., light detection and ranging 132, infrared sensors 134, and/or visible light sensors 136) may enable the spacecraft service device 100 to detect one or more features of the target spacecraft 20 (fig. 1A). For example, one or more of the sensors of the spacecraft service device 100 may detect docking features (e.g., docking, or coupling mechanisms) of the target spacecraft 20 or other features (e.g., structural features) of the target spacecraft 20 in order to determine the manner in which the nacelle 102 should be attached to the target spacecraft 20.

In some embodiments, the spacecraft service unit 100 may be at least partially reconfigurable to facilitate operations performed by the spacecraft service unit 100. For example, during coupling (e.g., docking) with the spacecraft 20 (fig. 1A), the apparatus 100 may reposition (e.g., load, unload) various structures and/or components (e.g., struts for docking with the spacecraft 20). Such structures and/or components may be removed by one or more tools (e.g., robotic arm 122) and placed in a temporary storage location. These structures and/or components may be attached when the spacecraft service device 100 is docked (e.g., and serves) with the target spacecraft 20.

In some embodiments, features on the spacecraft service device 100 may be used to reconfigure other devices (e.g., spacecraft). For example, one or more tools (e.g., robotic arms 122) of spacecraft service set 100 may be used to remove structures that facilitate stacking secondary payloads over spacecraft service set 100 after launch. In some embodiments, the spacecraft services device 100 (e.g., and attached pod 102 (fig. 1A)) may be attached to an ESPA ring or some other suitable structure. After launch (e.g., on rails), robotic arm 122 may disassemble pod 102 and reposition it to a storage location, and then disassemble the accessory structures used during the launch handling or temporary storage.

Fig. 2B shows a simplified schematic diagram of an embodiment of a spacecraft service device 150, which spacecraft service device 150 may be substantially similar to spacecraft service device 100 of fig. 2A, and which spacecraft service device 150 may include some, most, or all of the components of spacecraft service device 100 as shown. As shown in fig. 2B, the spacecraft service device 150 includes a coupling mechanism 152 (e.g., a docking, holding, or otherwise attaching mechanism) for coupling to other devices (e.g., other spacecraft, such as the spacecraft 20, the nacelle 102, the resupply device 30, etc.).

As described above, once the spacecraft service assembly 100 is in orbit with the pod 102 initially fed, the spacecraft service assembly 100 travels from the target spacecraft 20 (fig. 1A) to the target spacecraft 20 to install the pod 102. In some embodiments, the spacecraft services apparatus 100 can employ additional control techniques to remain in an optimal position relative to the spacecraft 20 to allow for installation (e.g., robotic installation) of the nacelle 102. The optimal position may or may not be centered on the spacecraft 20 and may be backed from the spacecraft 20 by a selected distance such that the nacelle 102 and the robotic arms 122 have space to move onto the spacecraft. Data from the rendezvous sensors may be sent to a robot control computer on the spacecraft service unit 100 so that the machine vision and robot motion control algorithms may have a priori knowledge of the relative positions and motions of the two spacecraft.

Fig. 2C-2K illustrate various embodiments of a coupling mechanism according to one or more embodiments of the present disclosure. As shown in fig. 2C and 2D, the coupling mechanism 152 may include an expandable docking mechanism 160 (e.g., having a spear shape) configured to be received in a receiving portion (e.g., the motor 156) (e.g., a portion of the motor or any other portion that may form a mechanical coupling) of at least one of the spacecraft 20. While the spacecraft service assembly 100 maintains this position relative to the spacecraft 20, the expandable docking mechanism 160 is fully guided into position by the spacecraft service assembly 100 (fig. 2A) or by final docking of robotic arm guides. Once in position, the one or more expandable portions may deploy and contact the receiving portion 156 in order to secure the expandable docking mechanism 160 to the spacecraft 20.

Such an expandable docking mechanism 160 is disclosed in, FOR example, U.S. patent application serial No.15,829,807 entitled "SYSTEMS FOR CAPTURING A CLIENT VEHICLE," filed on 12/1 of 2017, the entire disclosure of which is hereby incorporated by reference herein. For example, the expandable docking mechanism 160 may be inserted into the engine 156 of the spacecraft 20, as shown in fig. 2C. Once inserted into the engine 156, one or more portions of the expandable docking mechanism 160 may be moved (e.g., expanded, extended) to contact the engine 156 and secure the expandable docking mechanism 160 to the engine 156, thereby securing the nacelle 102 (fig. 1A) to the spacecraft 20. Before, after, and/or during the securing, the expandable docking mechanism 160 can include extension arms that are retracted to place the nacelle 102 (FIG. 1A) closer to the spacecraft 20.

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

As shown in fig. 2G and 2H, the coupling mechanism 152 may include a snare interface mechanism 164 (e.g., including a plurality of wires, e.g., braided wires, positioned at the opening of the cavity). The snare docking mechanism 164 may be guided into position in a manner similar to that described above. The snare docking mechanism 164 is configured to engage with the receiving portion 156 of the spacecraft 20 by enabling the receiving portion 156 to enter through the opening in the wire. Once in position, the snare interface mechanism 164 may be moved (e.g., rotated) such that the wire at least partially circumscribes the opening defined by the wire to secure the snare interface mechanism 164 to the spacecraft 20.

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

As shown in fig. 2K, the coupling mechanism 152 may include an inflatable clamp interface mechanism 168 (e.g., one or more inflatable pouches configured to be received on exterior and/or interior portions of the receiving portion 156), the inflatable clamp interface mechanism 168 configured to engage with the receiving portion 156 of the spacecraft 20. The docking mechanism 166 may be guided into place in a manner similar to that described above. Once in position, an inflatable bag (e.g., a ring bag) or bags (e.g., two opposing bags) may be inflated to secure the expandable docking mechanism 168 to the spacecraft 20. In some embodiments, the bag may be filled with a fluid (e.g., a liquid) that will at least partially solidify to form an at least partially rigid connection between the structures.

Fig. 2L is a perspective view of a spacecraft service assembly 180, which may be similar to those discussed above. As shown, the spacecraft service unit 180 can include a body 182 that includes an ESPA ring having pods 102 coupled around the body 182. Each pod 102 may include a coupling mechanism 184 for coupling with the target spacecraft 20 (fig. 1A) and an optional solar array 186. As described above, the coupling mechanism 184 may include a spear-like expandable device configured to engage with the engine of the target spacecraft 20.

Referring to fig. 1A, in yet additional embodiments, structural portions (e.g., struts or other frame members) of the nacelle 102 can be used to interface with the spacecraft 20. For example, a robotic arm or other feature (e.g., a non-robotic method) will first position the nacelle 102 at a predetermined location according to the geometry and features of the spacecraft 20 and components of the spacecraft 20 (e.g., a separation ring). The spacecraft service assembly 100 can then be docked to the spacecraft 20 using the structural portion of the nacelle 102. Once docking is complete, the structural portions of the nacelle 102 may be secured to the spacecraft 20 (e.g., by actuating clamps or otherwise stiffening the coupling via electronic commands through the robotic interface or via electromechanical drive power from the robotic interface). A portion of spacecraft service assembly 100 (e.g., a robotic arm) can then release pod 102, and spacecraft service assembly 100 can be undocked from spacecraft 20 and left behind pod 102 mounted on spacecraft 20 (e.g., mounted on a breakaway loop).

In still further embodiments, a portion of the spacecraft service assembly 100 (e.g., a robotic arm) may be extended and the nacelle 102 placed on a portion of the spacecraft (e.g., a breakaway ring or other compatible mechanical feature of the spacecraft 20). Electronic commands to the nacelle 102 or the spacecraft 20 can then be used to actuate a coupling mechanism or electromechanical driver on either device to secure the nacelle 102 in place on the spacecraft 20.

Referring to fig. 2A, where a robotic arm is used to position pod 102, robotic arm 122, end effector, and/or other tools may employ techniques related to docking mechanism 166 that minimize zero-gravity contact dynamics between the two carriers. Such techniques include, but are not limited to, minimizing friction at the contact interface, minimizing the time between first contact and rigidization (e.g., completing a dock or other coupling), and providing compliance in the path. In some embodiments, passive and active first contact electrostatic discharge (ESD) mitigation techniques may be employed in the design of pod 102, robotic arm 122, spacecraft service unit 100, and re-supply unit 30 to ensure that first contact ESD is minimized or eliminated. Such ESD MITIGATION techniques are disclosed, FOR example, IN U.S. patent application Ser. No.15/829,758 entitled "ELECTROSTATIC DISCHARGE MITITITION FOR A FIRST SPACECRAFT OPERATING IN PROXIMITY TO A SECOND SPACECRAFT," filed on 1/12/2017, the entire disclosure of which is hereby incorporated by reference.

Referring to FIG. 1A, it may be desirable to have as short a connection as possible between the spacecraft service set 100 and the spacecraft 20 when the nacelle 102 is mounted on the spacecraft 20. In some embodiments, during installation of the pod 102, both the spacecraft 20 and the spacecraft service unit 100 may be free to drift together for only a short period of time (e.g., a few seconds to a few minutes) during which installation of the pod 102 is established and the spacecraft service unit 100 releases the pod 102 to break the mechanical connection between the two vehicles. The propulsion system of the spacecraft service unit 100 may then be reactivated and the spacecraft service unit 100 may be backed up to a safe position. Shortly thereafter, the attitude control system of the spacecraft 20 may be reactivated so that the target spacecraft 20 may regain its position.

Referring to both fig. 1A and 2A, in certain embodiments, after installation, the nacelle 102 can be activated, for example, with a timer, a sensor (e.g., a disconnect timer, or the like), via, for example: ground commands to the transceiver in nacelle 102, electrical commands from robotic arm 122, which enables nacelle 102 to sense that it is no longer connected to any of spacecraft service unit 100, re-supply unit 30, or robotic arm 122. In some embodiments, such sensors may include one or more mechanical limit switches that are activated by completing a docking or mounting mechanical activity.

In still further embodiments, the nacelle 102 can be activated via a feature incorporated in the interface between the spacecraft service unit 100 and the nacelle 102. For example, a portion of a deployment device (e.g., a tool drive mechanism or end effector on robotic arm 122) of spacecraft service device 100 may assist in activating and/or initially deploying an accessory on nacelle 102. Such a technique would potentially simplify the mechanics of nacelle 102 by utilizing the functionality of robotic arm 122 (e.g., an end effector of arm 122) of spacecraft services 100 to perform the deployment and actuation of nacelle 102 (e.g., one actuation on nacelle 102). Robotic arm 122 and/or components and tools thereof can perform at least a partial in-track assembly of pod 102. For example, final assembly of the accessories onto nacelle 102 using robotic arm 122 may allow for simplified, lighter, and/or lower cost packaging for nacelle 102 components for launch.

Fig. 3 shows a simplified schematic diagram of an embodiment of a nacelle (e.g., task expansion nacelle 102 of fig. 1A) of spacecraft service set 100. As shown in fig. 3, mission extension nacelle 102 includes one or more devices for controlling nacelle 102 and any other structure attached to body 201 of nacelle 102 (e.g., orienting and moving nacelle 102 and any other structure attached to body 201 of nacelle 102). For example, the nacelle 102 may include a chemical or another type of reactive engine and/or may include an electric propulsion system. Additionally, the nacelle 102 may include a hybrid propulsion system (e.g., a combination of chemical, electrical, or cryogenic gas thrusters). As shown, the one or more propeller assemblies 200 may include one or more propellers 202 (e.g., Electric Propulsion (EP) propellers) attached (e.g., movably attached) to the nacelle 102 by way of movable (e.g., rotatable) couplings (e.g., universal joints 204 and booms 206). In some embodiments, the positioning of the propeller 202 relative to the main body 201 may be selected based on one or more characteristics (e.g., size, gauge, mass, center of mass, combinations thereof, etc.) of the spacecraft to which the nacelle is to be attached. In some embodiments, the propeller 202 may provide a relatively low acceleration to minimize or avoid disturbances due to propellant moving around in the propellant tank.

While the embodiment of fig. 3 shows one propeller assembly 200 on a single boom 206, in other embodiments the nacelle 102 may include multiple propeller assemblies (e.g., two, three, or more propeller assemblies and accompanying booms) on multiple booms. For example, two thruster assemblies may be provided on two booms, one of which is substantially a mirror image of the other. Further, in some embodiments, multiple thruster assemblies may be provided on a single boom. In such embodiments, multiple thrusters may be implemented to ensure that the life throughput of the system is adequately achieved or that a desired thrust level is achieved. For example, in embodiments in which the nacelle 102 is configured to drive itself to a particular track, the propellers may be selected to provide track lifting operations and subsequent maintenance procedures performed by the nacelle 102 after coupling to the target spacecraft 20. In some embodiments, the one or more thruster assemblies 200 may not be provided on the boom, but are mounted directly on the nacelle 102. In some embodiments, one thruster assembly 200 may be used for life extension services, including spacecraft relocation, station keeping, tilt pulldown, momentum adjustment, and/or end of life (EOL) handling. In some embodiments, multiple propeller assemblies 200 may each be used for all life extension services, or may be divided for different life extension services. For example, one or more thruster assemblies 200 may be provided on one or more booms for station keeping services, while one or more thruster assemblies 200 may be mounted on the nacelle for track repositioning, tilt pulldown and EOL handling.

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

The nacelle 102 can include a power and propulsion system 210, the power and propulsion system 210 including one or more power sources and associated parts (e.g., where at least a portion of the power system can be an electric propulsion power system). For example, the power system and propulsion system 210 may include one or more propellant tanks (e.g., containing xenon propellant or any other suitable propellant for electric or chemical propulsion systems), propellers (e.g., electric propellers), and associated power processing units. The pod 102 may include a solar cell array 212 and one or more batteries 214. In some embodiments, the solar cell array 212 may be rigidly coupled to the body 201 or with a movable (e.g., rotatable) coupling having one or more axes of motion (e.g., one or more gimbals 216 or other movable joints and a boom 218 that provides motion about one, two, or more axes) to direct the solar cell array 212 toward the sun.

In some embodiments, the gimbaled solar cell array 212 may provide a number of advantages over a similar rigid array. For example, the gimbaled solar cell array 212 enables the solar cell array 212 to be removed from/spaced apart from the thrusters of the target spacecraft 20 so that the target spacecraft 20 may perform orbital maintenance while minimizing concerns about the thrusters of the target spacecraft 20 flying onto the solar cell array of the nacelle 102. The gimbaled solar array 212 may also thermally decouple the nacelle 102 from the target spacecraft 20 and increase the effectiveness of the solar array 212 by enabling it to track the sun. The increased effectiveness of the gimbal solar cell array 212 enables the propulsion of the pod 102 to be started (fire) for longer periods of time and also enables the use of smaller, lighter, and less expensive batteries. A propulsion system with a longer start-up time may facilitate service to the heavier target spacecraft 20. In some embodiments, the gimbaled solar cell array 212 may articulate in a manner that preserves momentum (e.g., without imparting net momentum) as the target spacecraft 20 flies through orbit.

In some embodiments, solar array 212 may track the sun during the sun-illuminated portion of the service of the satellite using logic stored on pod 102 to maximize the power generation of solar array 212, thereby minimizing the size of solar array 212 and the batteries. In some embodiments, the motion of the solar array 212 may be limited, for example, to simplify the mechanical design and eliminate or minimize shadowing of the spacecraft array, impingement from propeller plumes on the nacelle 102 and/or spacecraft 20, interference with sensors or antennas on the nacelle 102 and/or spacecraft 20, or other system constraints. In some embodiments, the solar array 212 may include two separate wings with one or two axes of motion. In some embodiments, the gimbaled solar cell array 212 may include one axis of motion configured to counteract the rotation of the pod 102.

In some embodiments, the solar cell array 212 is oriented to track the sun to provide sufficient power to the propulsion system such that continuous electric propulsion can cause the nacelle 102 to modify orbit without being attached to the host spacecraft 20 or the service spacecraft 100.

Embodiments of the pod 102 can provide spacecraft services on the spacecraft vehicle 20 (fig. 1A) in physically relatively small packages and light footprints by using low power (e.g., electric) propulsion systems such as grid-ion thrusters, hall-effect thrusters, colloid/field-effect thrusters, arc jets, and resistance jets. Such an electric propulsion system may generate a desired amount of thrust for a selected period of time for one or more combustions to adjust the positioning of the spacecraft 20 (e.g., combust twice for a twenty-four hour period), with each thrust lasting for the selected period of time. In some embodiments, the nacelle 102 may be positioned on the zenith-facing (e.g., anti-earth) side of the solar array 212 of the spacecraft and nacelle 102 so as to illuminate unobstructed sunlight for at least twelve hours per day. In some embodiments, primary thruster combustion may occur while the solar array 212 of the nacelle 102 is fully illuminated, while secondary thruster combustion occurs with the solar array 212 of the nacelle 102 fully obscured by the spacecraft body.

In some embodiments, each propeller burn may occur over a twenty-four hour period when the solar array 212 of the nacelle 102 is obscured by the body of the spacecraft 20. In some embodiments, with the solar array 202 of the pod 102 fully illuminated, each propeller burn may occur within a twenty-four hour period. Batteries (e.g., battery 214 such as lithium ion batteries) may be used to store energy during periods when the pod 102 is illuminated by the sun, and the battery 214 may be sized to support bus power losses of the pod 102 and propeller firing power during periods when there is no sunlight. In some embodiments, the propeller combustion is performed by means of a chemical propeller.

In some embodiments, the propellant of the power and propulsion system 210 of the nacelle 102 may include a quantity of propellant (e.g., about 25kg, 50kg, 100kg, 150kg, or more) to support station keeping (e.g., maneuvering and momentum adjustment requirements) of the spacecraft 20 (fig. 1A) for a selected period of time (e.g., at least several years). In some embodiments, the propellant may include an additional amount of propellant to facilitate delivery of the pod 102 from the initial launch insertion trajectory to its intended trajectory using the power and/or propulsion system of the pod 102. The pod 102 may be loaded with propellant prior to launch so that no propellant transfer is required once the pod 102 enters the track. Since the spacecraft 20 needs to be relocated to a different orbit location for continuing its operational life or reaching the end of its operational life, the propulsion schedule and location of the nacelle 102 can be adjusted to deliver speed changes in the direction of the orbit speed of the spacecraft 20 to move the spacecraft 20 to a different orbit, orbit location, or a combination thereof, for the purpose of operational life extension or end-of-life handling.

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

Referring to fig. 1A and 3, in some embodiments, the fuel tank 24 of the spacecraft 20 may be bypassed (e.g., not utilized) to service the spacecraft 20. For example, propellant of pod 102 (e.g., propellant of pod 102 supplied from fuel tank 141, propellant of pod 102 supplied from a tank of propulsion system 210 of pod 102 in a configuration similar to that shown in fig. 1B) may be supplied (e.g., directly supplied) to a portion of propellant system 22 of target spacecraft 20 (e.g., while bypassing fuel tank 24 of spacecraft 20). In such embodiments, the propellant of the nacelle 102 may be used to service the spacecraft 20 without transferring (e.g., replenishing) the propellant to the tank 24 of the spacecraft 20 (e.g., via a refueling procedure). For example, the propellant of the nacelle 102 may be coupled (e.g., fluidly coupled via a coupling mechanism 152, a mating adapter 145 (fig. 1B), etc.) to a portion of the fuel system of the spacecraft 20. In some embodiments, such existing connections may be present on the spacecraft 20. In some embodiments, one or more of the spacecraft service assembly 100 and the nacelle 102 may mount at least a portion of the connection on the spacecraft 20.

Propellant from the pod 102 may be diverted into the propellant system 22 of the target spacecraft 20 and used to service the spacecraft 20 (e.g., to manipulate and/or adjust at least one of orbit, velocity, or momentum of the spacecraft 20), for example, using one or more propellers of the propellant system 22.

In some embodiments, the nacelle 102 may be free of propulsion devices for independent movement of the nacelle 102.

In some embodiments, the nacelle 102 can have a relatively low total mass, e.g., less than 700 kilograms (kg) (e.g., less than 600kg, 500kg, 400kg, 350kg, 300kg, 200kg, 100kg, or less).

In some embodiments, the nacelle 102 is configured to be permanently retained on the spacecraft 20 without being recycled or replaced. In some embodiments, the nacelle 102 can be detached from the spacecraft 20 and used on a different customer spacecraft. In some embodiments, the nacelle 102 may be detached from the spacecraft 20, refueled by the spacecraft service set 100 or the resupply set 30, and reattached to the spacecraft 20. In some embodiments, the nacelle 102 can be disassembled from the customer spacecraft 20 and the nacelle trajectory can be modified with the propulsion system of the nacelle 102 for subsequent rendezvous and capture by the spacecraft service set 100.

The nacelle 102 may include a power controller (e.g., a single circuit board of the power controller 220) and a flight controller (e.g., a single circuit board of the avionics controller 222) disposed on any suitable type and number of electronic devices. In some embodiments, redundant devices (e.g., circuit cards, avionics, propellers, sensors, actuators, or other components) may be included in the nacelle 102 to enhance the reliability, longevity, and/or throughput of the nacelle 102.

The nacelle 102 can include a communication subsystem 224 (e.g., Radio Frequency (RF) communication in communication with an antenna 208 and a transceiver (XCVR)). The communication subsystem 224 of the pod 102 may be designed to operate with commercially available communication services under the requirement of periodic contact rather than continuous contact. In some embodiments, one or more additional antennas are included at one or more suitable locations on nacelle 102 shown in fig. 3 for the purpose of establishing omnidirectional communication coverage with nacelle 102. In this context, communication coverage may be established when the boom is oriented for propulsion in a direction in which the boom antenna is not pointing towards the earth. In some embodiments, the one or more additional antennas provide a communication link to the pod 102 when the pod 102 is not connected to the re-supply device 30, the host spacecraft 20, or the satellite services device 100, for example, when the pod 102 is flying freely and the propulsion 202 on the boom is used to modify the orbit of the pod 102.

In some embodiments, a communication device (e.g., communication subsystem 224) of the nacelle 102 may receive data (e.g., relating to momentum of the spacecraft 20) relating to at least one of the orbit or velocity of the target spacecraft 20 (fig. 1A). Such data may be transmitted or otherwise transferred to the nacelle 102 from a location remote from the nacelle 102 via one or more communication channels (e.g., directly or indirectly via ground stations, satellite repeaters, direct transmission and/or electrical connections (e.g., directly from the target spacecraft 20)). Such data may include calculations for related combustion, and/or a system of the nacelle 102 may perform calculations for combustion based on the data. In some embodiments, telemetry data may be provided from the target spacecraft 20 to the nacelle 102 directly or indirectly through a ground station (e.g., through a radio frequency link). In some embodiments, telemetry data may be provided to the nacelle 102 directly or indirectly from one or more of the target spacecraft 20, the spacecraft service device 100, or from a ground station.

In some embodiments, the telemetry data may be updated at selected time intervals in a closed loop system, and subsequent combustion may be calculated based on the updated data.

In some embodiments, the predetermined combustion schedule may be provided to the nacelle 102 or another portion of the system 10.

In some embodiments, the bird 102 includes onboard functionality including any suitable technique for determining the range, position, and/or velocity of the bird 102 while in orbit. In some embodiments, the communication subsystem 224 of the nacelle 102 can provide ranging functionality so that the rail position of the nacelle 102 can be accurately determined with a ground system using standard ranging techniques. In some embodiments, the pod 102 may contain an on-board GPS transponder that provides a precise orbital position and velocity of the pod 102 whether the pod 102 is free-flying, attached to the satellite services device 100, or the host spacecraft 20. In some embodiments, the pod 102 may be determined using optical trajectories (e.g., via a camera or other suitable device). In some embodiments, the track range, position, and/or velocity data is used on the ground by an operator (e.g., personnel and/or a computer) to calculate a new propeller firing schedule, which is uploaded to the nacelle via communication subsystem 224. In some embodiments, a computer onboard the nacelle 102 uses the orbit position and velocity data to calculate a new propeller firing schedule. In some embodiments, the propeller firing schedule calculated by the ground or the nacelle may be used to modify the orbit of the nacelle with the nacelle attached to the host spacecraft 20 for the purpose of life extension or orbit modification. In some embodiments, the propeller firing schedule calculated by the ground or the pod is used to modify the orbit of the pod if the pod is not attached to the host spacecraft 20 or the satellite services device 100.

In some embodiments, the nacelle 102 may use its on-board generated orbit position and velocity data in combination with data uploaded from the ground or generated by sensors on the nacelle 102 in order to calculate a propeller firing schedule that is used to modify the nacelle position and orientation relative to another celestial body in orbit. In various embodiments, the pod 102 may modify its position or orientation relative to another celestial body in orbit to meet the satellite services device 100; avoiding collision with another on-orbit celestial body; maintenance of the space station holding orbit with respect to another pod 102, satellite services 100, or another celestial body in orbit; and performs space station maintenance of the host spacecraft 20 relative to one or more other celestial bodies in space when attached to the host spacecraft 20.

In some embodiments, the nacelle 102 may lack any independent system for determining telemetry data (e.g., speed, attitude, momentum, position, orbit, etc.) of the nacelle 102 and/or the target spacecraft 20, and may need to rely on external sources for such information (e.g., the target spacecraft 20, the ground station, the service carrier device 100).

The pod 102 may store telemetry data over a period of time (e.g., an eight to twelve hour period) and return the data to the communication network when polled on a selected schedule (e.g., two or three times per day). The total data set may be relatively small, resulting in relatively short contact times, which provides a relatively low cost footprint for operating the plurality of pods 102 over a period of years. In some embodiments, the nacelle 102 may be positioned on a non-earth-facing side of the target spacecraft 20 (FIG. 1A). To provide a line of sight to the ground station antenna and/or the detour communication service, the transceiver antenna 208 may be positioned on the same boom that carries the thruster assembly 200 to provide a clear line of sight. Given the geosynchronous orbit range and the low power nature of the components of the bird 102, along with the relatively modest gain antenna 208, the bird 102 can transmit and return data at relatively low data rates (e.g., less than 1kb/s, less than a few kb/s). Thus, the nacelle 102 is able to receive a limited set of commands to adjust its propulsion schedule and boom pointing according to adjustments specified from the earth by the spacecraft operator of the spacecraft 20.

In some embodiments, one or more portions of the system 10 (fig. 1A) (e.g., the nacelle 102) may utilize a flexible frequency transceiver that may enable the nacelle 102 to communicate with a ground station associated with the spacecraft 20. By using flexible frequency transceivers and by using existing ground systems for the spacecraft 20, the nacelle 102 may not require any additional regulatory approval or third party services to establish command and telemetry connections between the nacelle 102 and a ground station for the spacecraft 20. This may enable an operator of the spacecraft 20 to establish control (e.g., full control) of the nacelle 102 with relatively minimal additional investment with little or no regulatory disclosure or permission. Given that the market base for the target spacecraft 20 includes a relatively large number of spacecraft 20 that utilize C-band and Ku-band RF frequencies for communication, the launched bird 102 may be configured with a C-band or Ku-band transceiver. The pre-launch coordination may establish a ratio of pod 102 to a C-band or Ku-band based communication system to be launched on an initial capability or in a re-supply spacecraft. If the target spacecraft 20 does not utilize C-band or Ku-band communications, the bird 102 may be configured to implement a type of communication system that substantially matches the type of target spacecraft 20, or the C-band or Ku-band bird 102 may still be used with target spacecraft 20 having a different type of communication system. In some embodiments, the pod 102 may store its telemetry data for a selected period of time (e.g., eight to twelve hours) and may return the data to the communication network when polled (e.g., twice or three times per day).

In some embodiments, the flexible frequency transceiver may enable the nacelle 102 to be paired with various target space vehicles 20, as the frequency of the flexible frequency transceiver may be modified based on the target space vehicle 20 being in orbit (e.g., utilizing unused portions of one or more bands of frequencies utilized by the target space vehicle 20). In some embodiments, the flexible frequency transceivers included in nacelle 102 enable frequency de-collision between multiple nearby nacelles and/or nacelle 102 and other nearby spacecraft. This capability may enable the pod 102 to maintain efficient and collision-free communication with the ground without the pod 102 being attached to the satellite services device 100, the re-supply device 30, or the host spacecraft 20.

In some embodiments, the space-to-space command and telemetry link between the nacelle 102 and the spacecraft service unit 100 can be implemented to take advantage of the relatively large gain and power of the spacecraft service unit 100 to connect the nacelle 102 to the ground system of the spacecraft 20. In some embodiments, this technique may be employed while the spacecraft services 100 are in close proximity to the nacelle 102 and/or may be implanted for long term operation, where the nacelle 102 propeller firing schedule may only need to be adjusted occasionally (e.g., adjustments performed weekly, monthly, or longer intervals).

In some embodiments, the communication system of the nacelle 102 may use a transceiver designed to take advantage of the close proximity of the antenna of the nacelle 102 to the uplink antenna of the spacecraft 20 to feed spread spectrum telemetry signals from the nacelle 102 into the uplink of the spacecraft 20. This signal is then received by the communication system of the spacecraft 20 for high gain boost to send telemetry from the nacelle 102 to the ground.

The various communication systems in the pod 102 disclosed herein may enable monitoring of the functionality of the pod 102 and results obtained from the pod 102 in near real-time with only a time lag due to the speed of light from the geosynchronous orbit to the ground. Such a configuration may enable the nacelle 102 to perform a number of functions (e.g., such as those described above), wherein those functions may return performance data to the ground station. Software in the ground station and in the target spacecraft 20 or pod 102 may also be used to "close the loop" with light speed hysteresis so that data from the pod 102 or target spacecraft 20 may be delivered to software associated with the target spacecraft 20 or pod 102 to control the target spacecraft 20. In some embodiments, the bird 102 may not need to communicate directly with the spacecraft 20 that receives the bird 102, and may communicate with the spacecraft 20 via a light speed round trip time lag through a ground station. In such an embodiment, a "closed loop" of complex functionality can be provided, which can be in the form of pod 102 spacecraft services. For example, the complex functionality may include the following capabilities: the propeller assembly 200 of the nacelle 102 is utilized to manage the three momentum axes of the spacecraft 20 with gimbal control logic residing in ground software or nacelle software using telemetry data from the spacecraft 20.

To deploy and attach the pod 102 to another spacecraft 20 (fig. 1A), the pod 102 may include attachment features (e.g., a coupling mechanism 226 configured for one or more of docking, attaching, holding, or a combination thereof, to a target spacecraft 20) configured for attachment to the spacecraft 20 and/or one or more coupling features (e.g., a grasping mechanism 228) that may be engaged by features (e.g., robotic arms 122) of the spacecraft service device 100 (fig. 2A). The coupling mechanism 226 may be movably mounted to the body 201 (e.g., via a universal joint 230).

In some embodiments, the propeller assembly 200 of the pod 102 may be positioned on a multi-axis actuator system (e.g., defined by a plurality of gimbals and/or other translational or rotational devices). For example, the gimbal 204 may be configured to move the pusher assembly 200 in a first axial direction, and the gimbal 205 may be configured to move the pusher assembly 200 in a second axial direction that is transverse to the first axial direction. In some embodiments, the gimbals 204, 205 may be juxtaposed at the impeller assembly 200. In some embodiments, the gimbals 204, 205 may be separated by a boom. Nacelle 102 may include a third gimbal 230 (e.g., for rotating body 201 relative to spacecraft 20 (FIG. 1A)) for positioning gimbals 204, 205 relative to the spacecraft body. In some embodiments, the nacelle 102 can include a third gimbal 230 (e.g., between the body 201 and the boom 206) proximate to the gimbal 204. Such a third gimbal 230 may act in cooperation with gimbals 204, 205 to produce three degrees of freedom (e.g., three rotational degrees of freedom).

In some embodiments, the grasping mechanism 228 may be spaced apart from the body 201 by one or more structures 232 to couple with the robotic arm 122 of the spacecraft service unit 100 (fig. 2A).

Nacelle 102 can include a mechanism for securing nacelle 102 to spacecraft service unit 100 (FIG. 2A). For example, the nacelle 102 can include a loading mechanism 234 coupled with a portion of the spacecraft service unit 100 (e.g., it can be spaced from the body 201 by the structure 232). In other embodiments, one or more of the above existing features (e.g., the coupling mechanism 226 and/or the grasping mechanism 228) or another feature may be used to secure the nacelle 102 to the spacecraft service set 100.

As described above, the nacelle 102 may be configured to deliver changes in orbital speed (e.g., station hold, repositioning, EOL handling) to the spacecraft 20 (fig. 1A), for example, while being decoupled from (e.g., not in communication with) the control system of the spacecraft 20. In other words, the nacelle 102 alone may change the trajectory (e.g., orbit) of the spacecraft 20 while attached to the spacecraft 20 but not in communication with the control system of the spacecraft 20. The change in speed may be provided from a thruster 202 (e.g., an ion thruster, a hall current thruster, a grid ion thruster, a hall effect thruster, or any other suitable type of electrical or chemical thruster that generates any suitable level of thrust).

In some embodiments, as described above, the nacelle 102 may function, at least in part, as an auxiliary fuel tank (e.g., a tank of high pressure xenon, hydrazine, helium, dinitrogen tetroxide (NTO), green propellant, combinations thereof, or any other suitable fuel) that is coupled to the spacecraft 20 (e.g., fig. 1A) (e.g., coupled to the exterior of the spacecraft 20). For example, the nacelle 102 may include one or more of such fuel tanks in the power and propulsion system 210. In other embodiments, as described below, the nacelle 102 may include only a fuel tank and associated parts configured to attach to the spacecraft 20 and place the fuel tank in fluid communication with the spacecraft 20.

In some embodiments, the nacelle 102 may include essentially only the auxiliary tank system, and may not include most or any of the above components. Such auxiliary tank system pods 102 may include service valves for initially pressurizing the system, mechanical supports for equipment and attachment to the spacecraft, gripping accessories, and/or passive thermal control. In some embodiments, the auxiliary bin system pod 102 may be placed at its destination using a deployment device (e.g., robotic arm), which may or may not be cooperatively designed to receive the bin. The target spacecraft 20 for the transfer box system nacelle 102 can have a co-designed interface for gas and fluid transfer, or, when the spacecraft 20 does not have such an interface as described above, the auxiliary box nacelle 102 can include an interface configured to accommodate various sizes and configurations of accessories on such a spacecraft 20.

Fig. 4 is a simplified schematic view of the nacelle 102, the nacelle 102 being attached to the spacecraft 20 in a first configuration 300 with a first thrust vector direction 301 and attached to the spacecraft 20 in a second configuration 302 with a second thrust vector direction 303. Referring to fig. 3 and 4, the gimbals 204, 205, 230 may provide a selected number of degrees of freedom (e.g., two degrees of freedom, three degrees of freedom) for directing thrust vectors through the center of mass of the spacecraft 20. Thrust may be generated on command (e.g., from a remote ground station) and/or on a schedule (e.g., a predetermined schedule and/or a schedule actively sent to the nacelle 102) based on the initial position of the spacecraft 20 on the track, and may reduce or even remove the burden of station keeping and momentum unloading from the propulsion subsystem of the spacecraft 20. In some embodiments, the amount of thrust and/or the thrust vector may be transmitted to the nacelle 102 via a communication link to the nacelle 102 according to any desired schedule.

As shown in a first configuration 300 (e.g., three rotational degrees of freedom) of gimbals 204, 205, 230 providing a first thrust vector direction 301, thrust may be applied in a predominantly southern direction or in an anti-normal (anti-normal) direction to the spacecraft orbit direction. Similarly, as shown in the second configuration 302 of the gimbals 204, 205, 230 providing the second thrust vector direction 303, thrust may be applied in a primarily north direction or in a direction perpendicular to the spacecraft orbit direction. As shown in fig. 4, each configuration may include a component of the thrust vector in either the positive or negative direction of the track velocity. As shown in fig. 5, the thrust vectors in each configuration (e.g., southerly and northerly) also have a significant component in the radial direction of the spacecraft's orbit. Slight variations in thrust vectors and combustion durations are used to perform station keeping and momentum adjustments of the spacecraft 20 as a function of commands (e.g., from a remote ground station) and/or as a function of schedules (e.g., a predetermined schedule and/or a schedule actively sent to the nacelle 102), as discussed below. In some embodiments, thrust vectors may be applied at different locations around the spacecraft at different times in orbit to optimize control of spacecraft orbital elements and management of spacecraft momentum.

This additional thrust from the nacelle 102 may reduce the rate of propellant consumption from the spacecraft 20 by, for example, 90% or more, up to 100%, and thereby serve to extend the mission life of the spacecraft 20.

Given that thrust typically cannot be provided to completely eliminate drift of the orbital elements of the spacecraft 20 during a single activation period (i.e., combustion), the nacelle 102 can induce a small directional velocity in one or more orbital directions (e.g., orbital radial direction, vertical direction, anti-vertical direction, in-plane direction) on the spacecraft 20 at each propeller activation period, and control of all orbital elements of the spacecraft 20 is achieved through a combination of multiple activation periods. For example, a propulsion schedule for pod 102 may be planned for selected intervals within one orbital rotation (e.g., a period of two twelve hours of a day) and for different orbital rotations over a period of one week, two weeks, three weeks, one month, or longer. Such a schedule may provide pairs of thruster fires and associated gimbal angles that produce speed changes that control some or all of the orbital elements and adjust spacecraft momentum simultaneously with or separately from the speed changes.

Fig. 5 provides another simplified schematic view of the nacelle 102 (e.g., rotated 90 degrees from the view in fig. 4), the nacelle 102 being attached to the spacecraft 20 in a first thrust vector direction 305 in a first configuration 304 and attached to the spacecraft 20 in a second thrust vector direction 307 in a second configuration 306. Referring to fig. 3 and 5, the gimbals 204, 205 may provide two degrees of freedom for directing thrust vectors 305, 307 through the center of mass 158 of the spacecraft 20. As shown, a propulsion schedule for the nacelle 102 may be planned for two time periods (or any time interval that provides a desired result for the target spacecraft 20) separated by twelve hours during a day. Such a schedule may provide pairs of thruster combustions 305, 307 that produce speed variations that may cancel each other out or be used to control the eccentricity of the spacecraft orbit.

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

In some embodiments, the coupling portion 310 of the pod 102 (e.g., including a docking mechanism, such as the expandable docking mechanism 160 described above) can include a movable (e.g., rotatable) joint. For example, the rotatable coupling portion 310 may secure the nacelle 102 to the target spacecraft 20 (e.g., by wedging against a portion of the target spacecraft's engine 314) while enabling the nacelle 102 to rotate relative to the target spacecraft 20. This configuration may allow the propeller boom arm 312 to have a degree of freedom (e.g., eliminating the need for a separate movable joint such as the third gimbal 230 (fig. 3)) and eliminating the need for two or more propeller gimbal assemblies.

Fig. 6 is a simplified schematic diagram of a re-supply device of a spacecraft service system, such as re-supply device 30 of spacecraft service system 10 (fig. 1A). As shown in fig. 6, the re-supply device 30 can include a plurality of pods 102 attached to and/or housed within a structure 400 (e.g., an ESPA ring). In some embodiments, each pod 102 may include a respective attachment mechanism 401 for coupling to the structure 400. The structure 400 may include a plurality of couplers. For example, the first coupling 402 and the second coupling 404 are for connecting to one of the payload of the launch vehicle and/or the launch vehicle itself. The architecture 400 may include a bus 406, the bus 406 including one or more spacecraft systems for controlling, monitoring, powering, etc., the re-supply 30. Structure 400 may include a grasping feature 408 (fig. 4) configured for coupling with another portion of system 10(1A), such as spacecraft service device 100 (fig. 2A). For example, the grasping feature 408 may include a structure that may be coupled with the robotic arm 122 of the spacecraft service set 100 (see fig. 2A). In some embodiments, the structure of the resupply device 30 may include a breakaway loop and/or a simulated feature of the spacecraft engine (e.g., a similarly shaped and/or configured structure) such that the spacecraft service device 100 may interface with the structure of the resupply device 30.

In some embodiments, the structure of the resupply device 30 may be entirely passive (e.g., an ESPA loop that does not include the active spacecraft bus system 406 or the routing feature 408). In such embodiments, the pod 102 may be released from the re-supply device 30 on some orbit other than that of the spacecraft service set 100. The pod 102 may not receive any power, heat, or data services from the re-supply device 30. For example, the pod 102 may be powered prior to and during launch, or may not be powered until released from the re-supply 30.

Fig. 7-10 illustrate various embodiments of a spacecraft services apparatus including a plurality of pods coupled to the spacecraft services apparatus in accordance with one or more embodiments of the present disclosure. As shown in fig. 7, the spacecraft service assembly 500 may be defined by one or more annular structures 502 (e.g., two ESPA rings stacked axially on top of each other). Pods 102 may be coupled around annular structure 502 (e.g., coupled around annular structure 502 in a stack of at least two pods 102). For example, the nacelle 102 can be coupled to each port defined around the ring structure 502. A tool (e.g., a robotic arm 506) may be coupled to one of the ring structures 502 (e.g., a radially extending surface on one side of the ring structure 502).

As shown in fig. 8, spacecraft services 500 can have different configurations of pods 102 coupled around an annular structure 502. For example, the nacelle 102 may be coupled to each port defined around the ring structure 502. The second row of pods 102 can be coupled to respective pods 102 that are positioned proximate (e.g., adjacent and/or coupled to) the annular structure 502. Yet another set of pods 102 may be positioned (e.g., coupled) between two pods 102 of the multiple sets of pods extending from the ring structure 502. In some embodiments, a selected amount of clearance (e.g., including no clearance) may be provided between the pods 102. In some embodiments, the outermost pod 102 may be configured to be positioned within a diameter of a portion of the launch vehicle (e.g., a payload fairing), extend to a portion of the launch vehicle (e.g., a payload fairing), or extend beyond a portion of the launch vehicle (e.g., a payload fairing).

As shown in fig. 9, spacecraft services 500 may have different configurations of pods 102 coupled around an annular structure 502. For example, the nacelle 102 may be coupled to, but spaced apart from, each port defined around the annular structure 502. The second row of pods 102 can be positioned adjacent (e.g., coupled to) the respective pods 102, which are positioned proximate to the annular structure 502. Yet another set of pods 102 may be positioned (e.g., coupled) between two pods 102 of the multiple sets of pods extending from the ring structure 502.

As shown in fig. 10, spacecraft services 500 can have different configurations of pods 102 coupled around an annular structure 502. For example, a selected number of pods 102 (e.g., three pods 102) may be coupled to each port defined around the ring structure 502. The second row of pods 102 can be positioned adjacent (e.g., coupled to) the respective pods 102, which are positioned proximate to the annular structure 502. Yet another set of pods 102 can be positioned (e.g., coupled) on either side of each respective pod 102, the respective pods 102 being positioned proximate to the ring structure 502.

Fig. 11 illustrates another configuration of the spacecraft service system 10, which may be similar to and include the various features and operations of those discussed above. However, the configuration in fig. 11 may include one or more free-flying pods 102 configured to be deployed on-track (e.g., from earth on-track by a launch or launch spacecraft 50 or structure, which may be similar to or the same as the spacecraft service device 100 and/or the re-supply device 30 described above) to be transported to the target spacecraft 20 (e.g., under power of the pod 102 or by another spacecraft), and then to serve the target spacecraft 20 (e.g., by coupling to the target spacecraft 20).

As shown in fig. 11, the system 10 may include a host or transport vessel (e.g., the launch vehicle 50) that delivers one or more pods 102 to a first initial orbit, e.g., a substantially geosynchronous orbit, that is different from (e.g., lower than) a desired final orbit. For example, the initial orbit may be at least partially surrounded by or within a geosynchronous orbit (e.g., a majority of the initial orbit is closer to the earth than a majority of the geosynchronous orbit). In some embodiments, the initial orbit may comprise a Low Earth Orbit (LEO), a Medium Earth Orbit (MEO), a polar stationary orbit, a moon orbit, or other orbits.

As described above, in some embodiments, the nacelle 102 can include a propulsion system for independent travel (e.g., for travel from the launch spacecraft 50 to a location proximate the target spacecraft 20 or another spacecraft configured to deliver the nacelle 102 to the target spacecraft). In other embodiments, the nacelles 102 may be completely devoid of their own propulsion system or of a propulsion system for moving the nacelles 102 independently of another spacecraft (e.g., where any thrust on the nacelles 102 is used to adjust the orbit of the target spacecraft 20 rather than for independently traveling the nacelles 102).

In some embodiments, the pods 102 may utilize the onboard capabilities of the pods 102 (e.g., as described above and below) to modify their orbits after the pods 102 are released from the launch spacecraft 50 such that the pods 102 are pre-positioned for capture by the same or different spacecraft (e.g., satellite services 100, launch spacecraft 50, resupply spacecraft 30) that is now in a position relatively closer to the target spacecraft 20 (e.g., closer to geosynchronous orbit) as compared to the position the launch spacecraft 50 was in when the pods 102 were delivered to the first initial orbit. In embodiments where the pod 102 lacks a system or means for pre-positioning, another spacecraft (e.g., the spacecraft service set 100 or the re-supply set 30) may retrieve the pod 102 from an initial orbit and transport the pod 102 to a substantially geosynchronous orbit.

In some embodiments, the pre-positioning of the nacelle 102 can occur in one or more of the following ways: positioning the pods in a common location where the satellite services device 100 can collect the pods with relatively small orbital changes (e.g., substantially simultaneously); pre-positioned in an unused track location where there are no frequency utilization constraints and the likelihood of collisions with other space-resident objects or debris is reduced; and/or pre-positioned near the intended guest spacecraft 20 such that the satellite services device 100 has less orbital change to capture from the pod 102 to install the pod 102 on the guest spacecraft 20.

In some embodiments, pods 102 may be used to deliver payload to satellite services device 100. Prior to launch, one or more pods 102 may have one or more payloads 101 (e.g., robotic tools) attached to the pod 102 or integrated into the pod 102 that are intended to upgrade or enhance the functional capabilities of the satellite services apparatus 100. In some embodiments, the pod 102 may be detached from the launch vehicle 50, modify its orbit for eventual capture by the satellite services device 100, be captured by the satellite services device 100, and then remove the payload 101 through robotic capabilities included on the satellite services device 100. The pod 102 may then be mounted on the target spacecraft 20 by the satellite services apparatus 100. Such a configuration may enable future upgrades to the overall capabilities of the satellite services system 100 without launching an entirely new spacecraft, while enabling the nacelle 102 to provide maintenance for the target spacecraft 20 after the upgrade is provided.

As shown in fig. 11, the nacelle 102 may travel directly to the target spacecraft 20 (e.g., coupled with the target spacecraft 20), or may need to be installed on the target spacecraft 20 and/or delivered to the target spacecraft 20 after being substantially pre-positioned in geostationary orbit. For example, the nacelle 102 may not be able to independently interface and/or converge with the target spacecraft 20 itself (e.g., due to a lack of a necessary system). In such embodiments, the pod 102 may use its own propulsion and/or power to change its orbit to meet the satellite services device 100. Once in the desired position, the spacecraft services device 100 can capture the pod 102 using a docking mechanism (e.g., a coupling mechanism 152 as shown in fig. 2B) on the spacecraft services device 100. Prior to capture, the pod 102 may remain in orbit near the satellite services 100 or the target spacecraft 20 in order to reduce the transit time to the target spacecraft 20.

In some embodiments, one or more propellers on a boom assembly (e.g., a single boom assembly 206 as shown in fig. 3) may be used to facilitate delivery of the pod 102 from an initial launch insertion trajectory to its intended trajectory. As shown in fig. 3, the pods 102 may have all of the features and capabilities that allow one or more pods 102 to be mounted on the launch vehicle as either a primary payload or a secondary payload, optionally along with one or more payloads 101, as shown in fig. 11. A launch vehicle (e.g., launch vehicle 50) may release one or more pods 102 on an initial trajectory that is not a final trajectory in which pods 102 will reside (e.g., a trajectory in which resupply of pods 102 occurs). In some embodiments, the nacelle 102 can use its propulsion system to modify the orbit of the nacelle 102 so that the spacecraft services system 100 can capture the nacelle 102 for later installation on the host spacecraft 20. In some embodiments, the nacelle 102 can use a single (or multiple) propeller boom (e.g., the boom assembly 206 as shown in fig. 3) to modify its trajectory. The launch vehicle 50 may place one or more pods 102 on any orbit where the pods 102 have sufficient fuel and power to create a delta-velocity to modify the pod 102 orbit to a desired orbit. In some embodiments, the pod 102 can be maneuvered into orbit for capture (e.g., for installation, for re-supply, etc.), which can occur on any orbit that is providing life extension services (e.g., Low Earth Orbit (LEO), Medium Earth Orbit (MEO), geosynchronous orbit (GEO), polar stationary orbit, lunar orbit, or other orbit).

In some embodiments, an attachment device may be included as payload 101 in pod 102 to enable pod 102 to independently maintain or operate itself with the supply in payload 101 or deliver it to another spacecraft while pod 102 is not attached to resupply device 30, launch spacecraft 50, target spacecraft 20, or satellite services device 100. These additional devices in the individual or integrated payload 101 of the nacelle 102 may include any suitable combination of spacecraft control and support devices, such as reaction wheel assemblies, inertial reference units (e.g., gyroscopes), GPS repeaters (e.g., including GPS antennas), propellers, antennas, star trackers, and/or additional solar cells. Pod 102 may include any of the components discussed above in satellite services 100 or pod 102 in fig. 2A, 2B, and 3. In some embodiments, the nacelle 102 may utilize one or more onboard computers to use these additional devices to maintain the orientation of the nacelle 102 in space (e.g., attitude control sensors and actuators), change speed (e.g., propulsion system propellers, fuel tanks, and fuel), determine the trajectory of the nacelle (e.g., ranging repeaters or GPS repeaters), increase power to support these functions (e.g., additional solar cells), and enhance ground communications (e.g., supplemental antennas).

Since the embodiments of the present disclosure described above are merely examples of embodiments of the present disclosure, the embodiments described above and illustrated in the drawings do not limit the scope of the present disclosure, which is defined only by the appended claims and their legal equivalents. Any equivalent embodiments are intended to be within the scope of the present disclosure. Indeed, various modifications of the disclosure, in addition to those shown and described herein, e.g., alternative useful combinations of the elements described, may become apparent to those skilled in the art. Such modifications and embodiments are also within the scope of the appended claims and their legal equivalents.