CONSTELLATION DESIGN

Prepared by: José RADZIK (ISAE/DEOS) Report submitted by Chandrika Pinnepalli and
Joao Junior Prepared by: José RADZIK (ISAE/DEOS) Report submitted by
Chandrika Pinnepalli and Joao Junior

Introduction:

This report has as main objective to describe in the detail and objectivity the
activities developed during the LAB works about Satellite Constellation Design
referring to the discipline of Satellites and Orbits.

1 1 Objective of the lab:

This lab intends to introduce the main methods for designing satellite
constellations with single and multiple visibility. The corresponding designs
can be applied either to communication and navigation systems. The
software SatOrb (joint development ISAE TÜM) will be used in order to
analyze visibility periods, derive statistics on visibility and optimize the
satellite number and distribution.
2 One satellite visibility:

Run the SatOrb software. As a first step, create a new satellite placed at an
altitude of 780 km and an inclination of 90°. Define a ground station
positioned at Toulouse. Two “Analysis” tools are of interest here: Coverage
and Access.
Step 1: Analyze the distribution of visibility period. Give the mean, min and
max visibility periods.
 Fig 2.1 Planisphere: Toulouse as Ground station

Fig 2.2 Access Summary Graph

From: 25/10/2021 00:00:00

To: 26/10/2021 00:00:00
---------------------------------------------------------------------
Access Start Time End Time Duration [min]
1 25/10/2021 01:52:45 25/10/2021 01:56:38 3.87
2 25/10/2021 03:26:21 25/10/2021 03:40:18 13.94
3 25/10/2021 05:06:31 25/10/2021 05:20:37 14.10
4 25/10/2021 06:54:50 25/10/2021 06:56:07 1.29
5 25/10/2021 13:56:43 25/10/2021 14:03:58 7.25
 6 25/10/2021 15:34:30 25/10/2021 15:49:34 15.07
7 25/10/2021 17:15:01 25/10/2021 17:29:07 14.09

Global Statistics
Min Duration: 1.29
Max Duration: 15.07
Mean Duration: 9.94

----------------------------------------------------------------------------------------------------------------

Report1 TOULOUSE station to SAT_1 satellite: Access Summary Report

Conclusion: Toulouse is defined as ground station with a satellite at an

altitude of 780km with 90° inclination. Figure 2.1 shows the position of
ground station and satellite. Figure 2.2 shows the accessibility of satellite to
ground station and report 1 gives the min, max and mean duration values.

3 Polar orbit constellation:

3 Polar orbit constellation:

Obviously, from the previous results, several satellites are needed to achieve
a continuous coverage. The design of polar orbit constellations has been
investigated by D.C. Beste in a paper published in 1978 [1]. An extract of
this paper is provided in annex. The constellation will be designed with
satellites at an altitude of 780 km. The minimum elevation angle will be set
to 10°.
Step 2: Calculate the number of needed satellites. Derive the number of
orbital planes and the number of satellites per plane.
From the paper in Annex B,
 Fig 3.1 Representation of satellite coverage

H = b = 780km
Re = a = 6378km
α m = 10°α =α m + 90 ° = 100°
¿ ¿

We know two sides and one non included angle of a triangle. Equations of
triangle are used to get the value of ψ
a
sin θ= sin α => θ = 61.341°
( b+ R E )
ψ=180 0−α −θ = 180 - 61.341 - 100 = 18.658°
N ( No(No. of satellites) = nm = 4/(1-cosψ )= 77
n (number of orbital planes ) = 7
m (number of satellites per orbital plane) = 11
Π
[
Δ=cos−1 cos ψ ∕ cos
m]= 18.656°

The most demanding requirement on ψ occurs at the equator, where the

following equation must be satisfied:
( n−1 ) ψ + ( n+ 1 ) Δ=π
where n is the number of orbital planes, ψ is the angular radius of the
Π
coverage circle, and Δ=cos
−1
m[ cos ψ ∕ cos
. The n ]
orbital planes are separated in angle by ϕ where
ϕ=ψ + Δ.

This results in an orbital-plane separation of 2 Δ at

the boundaries where satellites in adjacent orbital
planes move in opposite directions.

ψ + Δ = plane separation between codirectional

orbits (separation Fig 3.2 Orbital planes
is 2Δ between opposite-
moving chains).

ϕ=ψ + Δ = 18.6588+9.328166( Δ /2¿ = 27.9866°

Fig 3.2 Orbital planes spacing
The true anamoly and right ascending node for ith satellite is calculated as
mentioned below::
True_anomaly = (180.0/m) * (i/m) + (360.0/m) * (i%m) // degrees,
initial phase
Right_ascending_node = (i/m) * 27,98 // degrees where m = 11

Step 3: A process is described in Annex A in order to generate an XML file

that will define the parameters of the satellites in the constellation. The
corresponding XML file is readable by the SatOrb software. Generate the
XML file, open it in SatOrb and run a coverage analysis. Conclude on the
constellation design.

Fig 3.3 Planisphere view in SatOrb software

 Fig 3.4 Full coverage plot with 10° minimum elevation

Conclusion: As calculated above, considering 7(n) orbital planes with 11(m)

satellites in each plane, full coverage can be obtained maintaining 10°
minimum elevation angle. We have calculated the ψ value as 18.658° using
the annex B paper. We have obtained total number of satellites N = 77. n
and m values are considered accordingly to satisfy the below condition
provided in the paper.
The designed constellation provides a full coverage with
( n−1 ) ψ + ( n+ 1 ) Δ=π
10° minimum elevation angle in polar orbits. Figure 3.3 shows the satellites
coverage region and figure 3.4 gives the coverage plot.
The software provides both graphical traces and text reports. The basic
design of this constellation has been adopted by the Iridium system.
However, the number of planes has been reduced and one plane has been
discarded.
Step 4: Generate a new XML file with the modified parameters. Analyze the
coverage statistics. From the paper, calculate the minimum latitude to
obtain a continuous coverage and conclude on the constellation design.
 Fig 3.5 Planisphere view in SatOrb software

Fig 3.6 Full coverage plot with 8° minimum elevation

Conclusion: One of the orbital planes is discarded which resulted in

reduction of number of satellites. The system is redesigned considering 66
satellites. We can solve the problem in two ways: Either by declaring the
satellites accessibility for some region are limited or by comprising on
minimum elevation angle. The Iridium system is designed to give full
coverage thus comprising elevation angle.
As we know the no. of satellites, we can calculate the minimum elevation
that can be obtained providing full coverage for a given
no. of satellites.

4
Ψ =cos−1 1−( 66 )
=20.04992° γ =Ψ =20.04992

a = 7158 km Fig 3.7 Triangle included angle

known
b = 6378km

We know two sides and one included angle of a triangle as shown. Equations of
triangle are used to get the value of α

c=¿√ ❑❑❑❑❑

b2 +c 2−a2
α =cos−1 ( 2 bc )=98.099 °

The minimum elevation angle is considered from the horizon. Therefore,

Minimum Elevation angle = α −90=8.09 ≈ 80
Figure 3.5 shows the satellites coverage regions considering the new design and
figure 3.6 gives coverage plot. We can conclude that by considering 66 satellites
in this constellation, we can achieve full coverage with 8° minimum elevation
angle.

Step 5: What is the main advantage of a polar orbit constellation for a

communication system like Iridium.
Conclusion: The lower altitude polar orbits provides easy radio links with
portable devices and has high data resolution compared to higher altitude
satellites. Multiple visibility of each satellite at a certain location rather than
continuous sensing for a particular region. Thus, covering larger region. Polar
orbits can provide full coverage of the planet with lesser number of satellites with
required minimum elevation angle.
4 Rosette constellation:

An alternative for constellation design is the use of inclined orbits. The

corresponding design has been investigated by A.H. Ballard in a paper published
in 1980. Annex C presents an extract of this paper. The constellation considered
here encompasses 48 satellites placed on 8 orbital planes. The altitude is 1414 km
and the inclination 52°. This constellation design has been chosen for the
Globalstar communication system.
αi=right ascension angle for the ith orbit plane
βi = inclination angle for the ith orbit plane
γ i= initial phase angle of the ith satellite in its orbit plane at t = 0, measured from
the point of right ascension
In the special case of a rosette constellation containing N satellites, The rosette
class can be generalized to include constellations having Q satellites in each of P
planes by allowing m to take on fractional values. More generalized formulation
for orbital angles,

❑❑ ❑ i = 0 to N-1
❑
βi = β , for all i
γ i = mα i = mQ(2πi/N), m = (0 toN-1) /Q
In our case,

P=8
Q=6
N = 48
Considered harmonic factor is:
m = 1/Q = 1/6
Thus orbital angles are,

❑❑ ❑
❑
βi = 52°
γ i = mα i = (1 /6) * 6 * 360*i* (1/48) = 7.5 *i

Step 6: Generate the corresponding XML file and analyze the coverage. An
important parameter for Rosette constellation design is the harmonic factor m. It
may be needed to experiment several values.
 Fig 4.1 Coverage plot with 10° minimum elevation

Conclusion: The considered constellation provides coverage to all regions

except at poles. As we can see from the coverage plot(Figure 4.1) between -70 to
70 the area is covered. The same can be viewed in the figure 4.2. As this is
inclined orbit with 52° inclination, poles are not covered.

Fig 4.2 View from space in SatOrb software

Step 7: With the same altitude, how many satellites would be needed in the case
of polar orbits?
Number of satellites considered are N = 56 with the arrangement P = 7 and Q = 8
to obtain full coverage using polar orbits.

Fig 4.3 Coverage plot with 10° minimum elevation

Fig 4.4 View from space in SatOrb software

Conclusion: The number of satellites needed for full coverage using polar
satellites is calculated. The number of satellites considered are 56 (N). Figure 4.3
shows the coverage characteristics of the rosette constellation using polar orbits.
Figure 4.4 shows the orbits spacing.
5 Rosette constellation with multiple satellite visibility

Step 8: With the same process as for Globalstar constellation, investigate the
coverage characteristics of the GPS constellation.
Characteristics of GPS Constellation
Following are some of the characteristics of GPS constellation:
24 Satellites
6 Orbits
4 Satellites per orbit
Orbit Period = approx 12 hrs
Orbit Radius = 26600 Km (approx)
Satellites’ Altitude = 20,200 Km(approx)
Inclination with Earth = 55 degree
Angle b/w Orbital Planes = 60 degrees
Satellites do not rotate w.r.t. Earth but w.r.t distant stars
6 to 11 satellites are always in sight from earth surface
For this purpose the 4 satellites are not evenly spaced (900)
They are spaced at 30, 105, 120, 105 degrees
4 satellites are sufficient for GPS receiver

Fig 5.1 Planisphere view in SatOrb software

 Fig 5.2 View from space in SatOrb software

Fig 5.3 Coverage plot with 10° minimum elevation

Conclusion: GPS constellation coverage characteristics are plotted in figure 5.3.

It provides full coverage at the mentioned altitude. In the figure 5.2, We can see
the orbits around the earth and in figure 5.1 satellites coverage region.