OPTIMAL COVERAGE SATELLITE SYSTEM FOR A LOW EARTH ORBIT STORE-AND-FORWARD TELECOMMUNICATION NETWORK

Abstract: A telecommunications system is disclosed which includes a constellation (10) of satellites (12) equally deployed in four pairs (22) of circular, low Earth orbits (14, 15) inclined at fifty degrees with an interplane phase angle of zero degrees. The system enables two terminals (20) on the ground to communicate through a store-and-forward network.

Description: OPTIMAL COVERAGE SATELLITE SYSTEM FOR A LOW EARTH ORBIT STORE-AND-FORWARD TELECOMMUNICATION NETWORK DESCRIPTION OF THE INVENTION TECHNICAL FIELD The present invention relates to the field of telecommunications. More particularly, this invention provides a non-geostationary, store-and-forward satellite communication system. BACKGROUND ART The Increasing Demand for Telecommunications Services Over the past few decades, the demand for access to information has increased dramatically. Although conventional wire and fiber landlines, cellular networks and geostationary satellite systems have continued to expand in an attempt to meet this relentless growth in demand, the existing capacity is still not sufficient to meet the burgeoning global appetite for telecommunications services. Through technology advances and regulatory changes, mobile communication services were offered on a commercial basis and grew to meet city, regional, national, and even international coverage needs through interconnection to public networks. As part of this evolution, wireless network standards have developed, on both a national and international basis, although there are still no truly international seamless wireless networks. The decline in price of mobile services is one of the most important forces helping mobile communications reach broad-based markets and demonstrate rapid subscriber growth. The forces driving development of terrestrial wireless communications include advances in technology, declining prices and digital technology. The resulting reductions in service and equipment cost attributable to the factors described above have allowed mobile communications to penetrate both business and consumer markets. The ultimate goal of wireless services is to provide two-way, ubiquitous, affordable communications services. It was only very recently, with the introduction of mobile satellite services, that this has been made possible. Indeed, mobile satellite services are the final step in the evolution of wireless communications service and are the only services which can provide this ultimate goal of ubiquitous wireless communication. Terrestrial-Based Mobile Communications Services Currently, there are five major types of public mobile communications services used throughout the world: 1. Cellular, which provides primarily two-way, interconnected voice service with mobile, transportable, and portable telephones and providing a platform for data transmission; 2. Paging, which offers primarily one-way data transmission of numeric and alphanumeric messages; 3. Private Radio/SMR, which supplies primarily two-way voice service to closed user groups, but may also provide interconnected and mobile data services; SMR is a subset of private radio where service is provided on a commercial basis to businesses by carriers instead of the businesses owning their own systems; 4. Mobile Data, which provides networks for the exclusive transmission of mobile data; and 5. Personal Communications Services (PCS), which uses microcell technology, includes a wide range of voice and data services, for example, one-way outgoing PCS services, called CT-2, licensed in several countries such as the U.K., Taiwan and the Netherlands. The growth and evolution of mobile services show that subscribers migrate from basic limited services to more advanced services over time. The growth of terrestrial-based mobile services will increase the awareness and demand for enhanced mobile satellite services. Moreover, mobile satellite services will be able to provide service in areas that cannot be economically served using terrestrial networks. Wireless Communications As a result of the advances in technology, privatization, and decreasing prices on a world¬ wide basis, wireless communications have undergone a rapid increase in subscriber growth in the past several years. The result is that new enhanced wireless services tend to gain market acceptance more rapidly than did earlier wireless technologies. This phenomenon is attributable to the increasing functionality, value relative to price, and awareness among the population of each successive technology. Paging was introduced with only one-way, non-voice communications at a relatively high price. SMR provided two-way communications, but only within a closed user-group. Finally, cellular offered two-way interconnected voice communication with increasingly wide area coverage. The result of the rapid growth in wireless services worldwide builds an awareness and future demand for the benefits of advanced wireless communications. Mobile Satellite Services Mobile satellite services are uniquely positioned to complete the evolution of wireless services. These services offer ubiquitous coverage, interconnection with other networks and a variety of services. Mobile satellites will be able to support both voice and data terminals, depending upon the particular need of the user. In general, however, voice service will be expensive relative to data, due to the greater infrastructure required for voice communications and the generally greater efficiency of data communications. Several previous efforts to enhance world-wide communications capabilities are briefly described below. Robert R. Newton discloses a Multipurpose Satellite System in his U.S. Patent No. 3,497,807. Newton describes a system in which "any point on earth is always within the line of sight of some satellite and any satellite is always within the line of sight of an adjacent satellite in the same orbital plane." See Newton, Column 2, Lines 4-7. U.S. Patent No. 4,135,156 by Sanders et al., entitled Satellite Communications System Incorporating Ground Relay Station Through Which Messages Between Terminal Stations Are Routed, contains a description of a "satellite relay communications system" that "includes a ground relay station arranged so that each message from one subscriber to another is relayed by the satellite relay to the ground relay, processed by the ground relay and then transmitted to the second subscriber by way of the satellite relay." See Sanders et al., Abstract, Lines 1-6. Paul S. Visher discloses a Satellite Arrangement Providing Effective Use of the Geostationary Orbit in his U.S. Patent No. 4,375,697. His patent recites a "satellite squadron or cluster formation" which "is disposed in a predetermined location in...geostationary orbit...." See Visher, Abstract, Lines 1-2. In their U.S. Patent No. 5,1 19,225, Michael Grant et al. explain their Multiple Access Communication System. The inventors describe a system that incorporates "a node spacecraft" in geostationary orbit that works in combination with "several user spacecraft" in low Earth orbit. See Grant et al., Abstract, Lines 1-3. In U.S. Patent No. 4,809,935, Draim discloses a satellite system with a minimum number of satellites, including a three-satellite elliptic orbit constellation covering the entire Northern or Southern hemisphere and a four satellite constellation giving continuous global coverage. In U.S. Patent No. 3,340,531 , Kefalas et al. describe a satellite communication system in which a plurality of transportable ground terminals positioned on the Earth's surface are inter-linked by a plurality of satellites orbiting about the earth. The system utilizes a linear phased array receive and transmit antenna network for providing receive and transmit patterns which can be scanned and tracked over the complete hemisphere. Ward and Price, in their 1987 article entitled The UoSAT-2 Digital Communications Experiment, discuss the operation of a store-and-forward communications service from a satellite in low Earth orbit. In the 1987 paper Multiple Satellite Networks: Performance Evaluation via Simulation, by Clare et al., the authors discuss a simulation of networks having satellites and Earth stations as intercommunicating nodes. A global message communication network for low density traffic, employing satellites at low altitudes, is explored in the 1992 paper A Global Message Network Employing Low Earth-Orbiting Satellites by Kaniyil et al. European Patent Application No. 0 317 974 reveals a satellite business communication system capable of monitoring a plurality of aperture terminals through a public communication network. A demand-assignment communication system is disclosed in U.S. Patent No. 4,870,642, issued to Nohara et al. In U.S. Patent No. 4,361,886, Gutleber discloses a satellite communication system that employs a Doppler cancelling loop. None of the systems described above are capable of supplying a very low cost yet worldwide communications network that does not require expensive and complex terrestrial or geosynchronous satellite equipment. The references cited above disclose telecommunication systems that include satellites deployed in polar, Equatorial or inclined low Earth orbits. The systems provide for transmitting a message between two low-power fixed or mobile terminals on the ground through a store-and- forward network. The store-and-forward relay method takes advantage of the geometry of a system which allows the satellites to fly over different parts of the globe frequently. These low Earth orbit systems do not provide access to a satellite one hundred per cent of the time. In the most populated areas of the globe, a user may have to wait for many minutes until a satellite flies into view. It would be a significant commercial advantage for a system using the minimum number of low cost satellites to offer a user located in the highly populated, higher latitudes virtually immediate access to a satellite. It would also be a commercial advantage, in some cases, to offer nearly instant communication of the user's message to certain destinations. The development of such a system would constitute a major technological advance and would satisfy a long felt need in the satellite and telecommunications industries. DISCLOSURE OF THE INVENTION One of the embodiments of the present invention is a satellite system that includes forty-eight satellites equally deployed in four pairs of low Earth orbits. The orbits are inclined at 50 degrees to the Equator. The ascending node of one orbit of a pair of orbits, is displaced from the ascending node of its conjugate orbit by 180 degrees right ascension. The ascending node of one orbit therefore occurs at the same angle of right ascension as the descending node of the conjugate orbit. Ascending nodes of adjacent orbital planes are placed at 0, 45, 90, 135, 180, 225, 270 and 315 degrees right ascension. The interplane phase angle between any two adjacent orbital planes is 0 degrees. The interplane phase angle is the angle between two satellites in adjacent planes when one is at the Equator. Other orbital parameters are possible while still maintaining conjugate pairs of orbits having complementary ascending nodes. This constellation is not a member of the class of constellations with eight equally spaced planes. Those constellations have ascending nodes at 0 or 180, 22.5 or 202.5, 45 or 225, 67.5 or 247.5, 90 or 270, 1 12.5 or 292.5, 135 or 315 and 157.5 or 337.5 degrees right ascension. In no case is the ascending node of one plane the same as the descending node of another plane. A user terminal located between 34 degrees and 54 degrees latitude, the most highly populated portion of the globe, has virtually continuous access to a satellite in this constellation. A preferred embodiment provides a system for transmitting a message between two terminals on the ground through a store-and-forward network. For certain user terminals located in the upper latitudes, communication may be virtually instantaneous. The satellites are designed to operate in a circular low Earth orbit at an altitude of from 950 kilometers (km) or higher. They are also capable of speeding messages around the globe either by working in combination with relay stations on the ground, or by transferring message payloads across different orbits via the relay stations. The systems disclosed below are unique in their ability to provide affordable worldwide service, resulting in a competitive advantage over other terrestrial and previous satellite-based service providers. The services are described below and are summarized in Table One. The present invention is designed to supply affordable Non- Voice, Non-Geostationary Mobile Satellite Service (NVNG MSS) in several markets: TracSat™: Tracking & monitoring for the transportation industry. SecurSat™: Fixed site monitoring of industrial/utility locations, monitoring and tracking for misplaced or stolen assets. MailSat™: Transmission of e-mail. PageSat™: Two-way alphanumeric paging. EmerSat™: Emergency services. Other Services: Radio beacons, TV interactive response, office connectivity. Table One Services and Demand Segments Segment Service Message Type Description Transportation TracSat™, Short, frequent Messaging and SecurSat™ status and location location for messages trucking, maritime and railroads Remote monitoring Secursat™ Short telemetry Pipeline, messages and status environmental and monitoring agricultural monitoring Industrial/utility SecurSat™ Short telemetry Monitor plant messages and status facilities, utilities monitoring and meters in remote locations Personal/business MailSat™, Alpha-numeric Alpha-numeric communications PageSat™ messages, short- paging, e-mail and medium length mobile computing e-mail messages for frequent business travelers Commercial/residen¬ SecurSat™, Short alarm Stolen assets and tial security EmerSat™ notification security breaches; messages accident notification, etc. Radio beacon system Other Short, frequent Vessel tracking, status and location environment messages monitoring, etc. Interactive television data Other Alpha-numeric Viewer response to transmission messages TV, e.g., ordering Commercial/personal Other Business data, Relay service for access to business/ Faxes, computer customer using non- information networks files, etc. licensed, personal communications wireless inside shielded structure An appreciation of other aims and objectives of the present invention and a more complete and comprehensive understanding of this invention may be achieved by studying the following description of preferred and alternative embodiments and by referring to the accompanying drawings. A BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic view of a constellation of forty-eight satellites in four pairs of inclined orbits. For the sake of clarity, only two pairs of orbits are shown. Figure 2 is a diagram showing typical satellite tracks on a Mercator projection of the Earth's surface for eight orbital planes, six satellites per plane at 50 degrees inclination. Figure 3 is a schematic view of one of the embodiments of the satellites used to implement the present invention. Figure 4 depicts a typical relay station showing the fifteen degree elevation angle required by the invention. Figure 5 is a diagram of one pair of orbital planes inclined at fifty degrees to the Equator, illustrating a typical orbital altitude of 950 km, a satellite leaving the ascending node of one orbital plane and a satellite leaving the descending node of the conjugate orbital plane. Figure 6 is a plot of satellite visibility (percent of time) versus latitude, at 15 degree elevation angle, for three combinations of satellites and orbital planes including the combination of eight orbital planes and six satellites per plane (8x6) used in one embodiment of the invention. Figure 7 reveals a plot of average downlink capacity (kbits/second) versus latitude, at 15 degree elevation angle, for three combinations of satellites and orbital planes including the combination of eight orbital planes and six satellites per plane (8x6) used in one embodiment of the invention. Figure 8 shows a plot of "outage" (unavailable) time versus latitude, at 15 degree elevation angle, for three combinations of satellites and orbital planes including the combination of eight orbital planes and six satellites per plane (8x6) used in one embodiment of the invention. Figure 9 is a diagram of a satellite communicating with relay stations and user terminals by means of uplink and downlink transmissions. Figure 10 is a diagram showing various methods of relaying messages and data between relay stations. Figure 1 1 depicts the frequencies and bandwidth used in uplink and downlink transmissions between a satellite, a relay station and a user terminal. Figure 12 is a diagram of the structure of a data packet. Figure 13 is a functional block diagram of the satellite subsystems and their interconnections. Figure 14 depicts a functional block diagram of the message or "communications payload". Figure 15 shows the satellite antenna gain pattern. Figure 16 is a block diagram of one embodiment of radio frequency (RF) to intermediate frequency (IF) conversion used in the digital band scanning receiver to find rapidly any unoccupied frequencies which can be used for satellite, relay station and user terminal communications. Figure 17 is a block diagram of another embodiment of RF to IF conversion used in the digital band scanning receiver. Figure 18 is a diagram showing possible combinations of the modem module with other modules in a user terminal. Figure 19 is a block diagram of the modem module. Figure 20 is a diagram of the gain pattern of a typical user terminal antenna. Figure 21 is a functional block diagram of a relay station. Figure 22 shows schematically a radio beacon system for monitoring sea environment and tracking data with deployed buoys transmitting data through the satellite constellation-to-ground terminal links of this invention. Figure 23 is a schematic depiction of an interactive television system using a return link from a viewer to a TV broadcaster through the satellite constellation of this invention. Figure 24 depicts the return link from a viewer of a satellite TV broadcast through the satellite constellation-to-ground terminal links of this invention and terrestrial based data networks. Figure 25 is a schematic diagram showing a method of providing connectivity to movable devices or devices with low rate data inside a building which shields the user's radio signal from the satellite. BEST MODE FOR CARRYING OUT THE INVENTION A Constellation of Satellites Figure 1 is a schematic view of a constellation 10 of forty-eight satellites 12 operating in four conjugate pairs of orbits 22 utilized in a preferred embodiment of the present invention. For the sake of clarity, only two conjugate pairs of orbits 22 are shown in Figure 1. In the text that follows, the term "constellation" refers to the entire group of satellites 12. A complete implementation of the invention which incorporates the constellation 10 as well as equipment such as relay stations or user terminals on or near the Earth's surface is described by the terms "system" or "network". The satellites 12 shown in Figure 1 operate in a circular orbit 14, 15 about the Earth E which is inclined at 50 degrees to the Earth's Equator 16. In the most preferred embodiment, the satellites 12 are equally spaced in orbits 14, 15 at an altitude of 950 km which provides the best compromise between system coverage for users and costs. The pairs of orbits 22 are positioned so that the ascending node of one orbit 14 is displaced approximately 180 degrees in right ascension (longitude) from the ascending node of the conjugate orbit 15. The ascending node is the point in an orbit where a satellite crosses the plane of the Earth's Equator EQ travelling northward. The descending node is the point in an orbit where a satellite crosses the plane of the Earth's Equator EQ travelling southward. Ascending nodes of adjacent orbital planes are placed at approximately 0, 45, 90, 135, 180, 225, 270 and 315 degrees right ascension. The interplane phase angle between any two adjacent orbital planes in the most preferred embodiment is zero degrees. The interplane phase angle is the angle between two satellites 12 in adjacent planes when one satellite 12 is at the Equator 16. The interplane phase angle between satellites 12 in adjacent orbits may be between 0 degrees and 360 degrees, preferably between zero and 45 degrees, the most preferred embodiment being 7.5 degrees. The phase angle may be different between adjacent orbit planes. The parameters given above are for one preferred embodiment of the invention. However, other orbital parameters are possible while still maintaining conjugate pairs of orbits 22 having complementary ascending nodes. For example, the altitude of the satellites 12 may be other than 950 km and may be between 100 km and 12,000 km. A preferred range is between 100 km and 1,200 km, which is substantially less than geostationary altitude. The altitudes of satellites 12 in differing orbits may be different. The orbit planes 14, 15 may be inclined to the Earth's Equator EQ between 0 and 180 degrees. A preferred range lies between 40 degrees and 80 degrees. In the most preferred embodiment, the orbit planes are inclined at 50 degrees, which provides ideal system coverage for the most densely populated areas of the Earth. The inclination of a plane may differ from other planes. Further, the number of satellites per orbital plane 14, 15 may be a positive integer, and the total number of satellites 12 is given by the number of orbital planes 14, 15 multiplied by the number of satellites per plane. There may be between two and twelve satellites 12 per orbit 14, 15, preferably between five and eight, with the most preferred embodiment having six satellites per orbit 14, 15. The latter number of satellites 12 provides the best compromise between system efficiency and cost. A constellation 10 may be created in which the number of orbital planes (N) is an even, positive integer and the ascending nodes of the planes are positioned at right ascension angles of 0, 180, 360 N, 360 N+180...k*360 N, k*360 N+180...(N/2-l)*360/N, (N/2-l)*360/N+180 degrees. There may be between two and twelve orbital planes 14, 15. A preferred range is between four and ten. The most preferred embodiment has eight orbital planes 14, 15 which provides the best satellite visibility from the Earth's northern latitudes. Additionally, orbits may be other than circular, i.e., elliptical or elliptical with varying foci. While a variety of numbers of orbits 14, 15 and satellites 12 may be employed to implement the present invention, the reader should understand that the invention embraces any configuration that does not utilize geo-stationary spacecraft flying in orbits at an altitude of approximately 23,000 miles, except for using geo-stationary spacecraft as a communications link. The constellation 10 which is part of this invention is not a member of the class of constellations with eight equally spaced planes. Those constellations have ascending nodes at right ascensions of 0 or 180, 22.5 or 202.5, 45 or 225, 67.5 or 247.5, 90 or 270, 1 12.5 or 292.5, 135 or 315 and 157.5 or 337.5 degrees. In none of these cases is the ascending node of one plane the same as the descending node of another plane. In fact, the combination of ascending and descending nodes are equally spaced around the Equator 16. Figure 1 exhibits relay stations 18 located on the ground and distributed internationally in a pattern of locations on the Earth which maximize coverage and minimize time to forward messages and data between any two user terminals. A preferred embodiment of the present invention employs approximately ten to one hundred "distributed" relay stations 18. The relay stations 18 are capable of communicating with the satellites 12 in orbit via uplinks and downlinks. The relay stations 18 may be connected to terrestrial based networks such as public telephone networks. User terminals 20 are randomly distributed over the Earth's surface and are also capable of communicating with the satellites 12. The user terminals 20 may be fixed, mobile or portable. They may be located on land, at sea or in the air. Figure 2 presents a diagram showing typical satellite tracks on a Mercator projection of the Earth's surface for eight orbital planes, six satellites pei plane at 50 degrees inclination. The ground tracks indicate that the satellites pass over most of the settled globe frequently. A user terminal located between 34 degrees and 54 degrees latitude, the most highly populated portion of the globe, has virtually continuous access to a satellite in this constellation 10. This feature is discussed further below. A preferred embodiment provides a system for transmitting a message between two terminals on the ground through a store-and-forward network. For certain user terminals located in the upper latitudes, communication may be virtually instantaneous. Figure 3 is a schematic depiction of a satellite 12 that may be employed in one of the embodiments of the invention. This satellite 12 comprises a body 24, solar panels 28 and a pair of helical antennas 26. Figure 4 illustrates the elevation angle 30 of approximately 15 degrees which is required for reliable operation of the present invention. The elevation angle 30 is the angle measured from the local horizon at a terrestrial terminal such as a relay station 18 up to the region of the sky where the relay station 18 will be capable of communicating with one of the satellites 12 in the constellation 10. Figure 5 is a diagram of one pair of orbital planes 22 inclined at 50 degrees to the Equator. It shows a satellite 12a leaving the ascending node 40a of one orbital plane 14 and a satellite 12b leaving the descending node 40b of the conjugate orbital plane 15. In this embodiment, six equally spaced satellites 12 are placed in each circular, orbital plane 14, 15 at an altitude of 950 km. In this embodiment there is no overlap of the satellite 12 radio beam footprints between satellites 12 in the 50 degree inclined orbits. When used in conjunction with satellites 12 in an Equatorial orbit, ground control of frequency assignments will prevent interference between satellites in these orbits and satellites in Equatorial orbit. Figure 6 shows plots of satellite visibility (percent of time) versus latitude, at 15 degrees elevation mask angle, for three combinations of satellites 12 and orbital planes 14, 15. The combination of four pairs of eight orbital planes 22 and six satellites 12 per plane (8x6) are used in one embodiment of the invention. Other combinations shown are four orbital planes with six satellites 12 in each plane (4x6) and four orbital planes with twelve satellites in each (4x12). The combination of four pairs of eight orbital planes 22 and six satellites 12 per plane (8x6) used in one embodiment of the invention presents 99 percent visibility for a terminal 18\ 20 at latitudes between 34 degrees and 54 degrees. In other words, the probability of one or more satellites 12 being visible above 15 degrees elevation angle in these latitudes is greater than 99 percent. The 8x6 constellation 10 provides better visibility above 27 degrees latitude than the other combinations. This is of particular importance in the northern hemisphere since these latitudes encompass all of continental Europe, Hawaii, Japan, the continental United States, China, and European Russia. Figure 7 depicts the average downlink capacity in kilobits per second (KBPS) versus latitude, at 15 degrees elevation mask angle, for the three combinations of satellites 12 and orbital planes 14, 15 as shown in Figure 6. The 8x6 constellation 10 used in one embodiment of this invention and a 4x12 constellation have peak average downlink capacity from about 32 degrees to 50 degrees latitude. The peak average downlink capacity is nearly twice that of a 4x6 constellation. Figure 8 is a plot of 90th percentile "outage" time versus latitude, at 15 degrees elevation mask angle, for the three combinations of satellites 12 and orbital planes 14, 15 as shown in Figures 6 and 7. An embodiment of the current invention, an 8x6 constellation 10, offers a user significantly shorter "outage" times at latitudes between from 27 degrees to 58 degrees. The "outage" time represents the time a user must wait until a satellite 12 is in view. Between 34 and 54 degrees, a user has virtually instant access to one or more satellites 12. The maximum "outage" time is less than one minute for a user located between latitude 34 degrees and latitude 54 degrees. The fact that a user must wait for so little time to access a satellite 12 is of great commercial advantage. The invention can offer some users virtually instant communication to certain destinations at significantly lower cost than, for example a geostationary satellite system. Communications Links and Protocols The present invention comprises a satellite system that will provide store-and-forward coverage of virtually all locations on the Earth's surface. The following discussion is based on one preferred embodiment (As shown in Figure 1) in which the constellation includes 48 satellites 12 in four conjugate pairs of orbital planes 22, the pairs being equally spaced around the Equator and inclined at 50 degrees. In this preferred embodiment, each orbital plane 14, 15 contains six equally spaced satellites 12 in a circular orbit at an altitude of 950 km. User terminals 20 are distributed randomly, primarily in portions of the Earth E which are inhabited. While the detailed information in respect of power requirements, surface footprints of each satellite's radio beams, and the like are specific with respect to this embodiment, it will be appreciated by those skilled in the art that the methods and apparatus described are equally applicable to other embodiments having different constellations or orbital planes. In Figure 9, a primary method of communication between subscribers operating user terminals 20 is shown. A subscriber communicates with a satellite 12 by means of a user terminal- satellite uplink (TSU) 50a. The satellite stores the message and forwards it at a later time to another subscriber by means of a user terminal-satellite downlink (TSD) 50b. To reduce the time for delivery, the satellite is able to send the message to a relay station 18 through a relay station-satellite downlink (RSD) 48b. The relay station 18 retransmits the message to a second satellite 12 in an orbit 14, 15 which will more quickly pass nearby to the addressee. The retransmission is through a relay station-satellite uplink (RSU) 48a. The second satellite 12 at a later time sends the message to the addressee through a user terminal-satellite downlink (TSD) 50b. In Figure 9, relay station 18 is a message-forwarding terminal, since it holds a message from a subscriber obtained by means of a relay station-satellite downlink 48b transmission. The relay station 18 may hold this message until another satellite 12 in the constellation 10 comes within range or, depending on the destination, it may forward the message by one of the relay means described below. Figure 10 is a diagram which shows a satellite 12 communicating to relay stations 18 over relay-satellite downlinks (RSD) 48b, which in turn forward messages to their destinations through terrestrial links 51 or very small aperture terminal (VSAT) links 53 to geostationary satellites 52. 13 Figure 10 reveals a satellite 12 in an inclined orbit 14, 15 using a combination of ground relay stations 18, terrestrial links 51, and a geostationary satellite 52 to relay data. Any combination of these may be employed to speed a message throughout a particular orbital plane 14, 15. This novel use of relay stations 18 and other links 51, 53, enables the system to accelerate the delivery of a message payload to its destination instead of waiting for the satellites 12 in the orbit plane 14, 15 to precess around the Earth E to its point of delivery. In Figure 10, three lines of latitude are shown, indicated by reference characters 54, 56 and 58, on the surface of the Earth. These lines represent 60 degrees North, 30 degrees North and 30 degrees South latitude, respectively. In one embodiment of the invention, the region of the Earth's surface bounded by the lines of latitude 54 and 56 are within the service areas of the satellites 12 in inclined orbits 14, 15 and the region of the Earth's surface bounded by the lines of latitude 56 and 58 are within the service areas of satellites 12 in an Equatorial orbit. To reduce the time of delivery of message traffic even further, the distributed relay stations 18 may be linked together in several ways as depicted in Figure 10. In an alternative embodiment, relay stations 18 are linked through a geostationary communication satellite 52 by use of very small aperture terminals (VSATs). In a variation of this embodiment, large low Earth orbit communications satellites may be used for these linkages in place of the much higher altitude geostationary satellites 52. In still another alternative embodiment, relay stations 18 are linked through public, switched telephone networks 51, which are available in most of the developed world. For example if the message held at a relay station in New York is addressed to an addressee in California, the message may be forwarded by the public switched telephone network 51. To provide a great deal of system reliability, certain relay stations 18 can function as a message-forwarding station, or a network operation control center (NOCC). The ability of a relay station 18 to select among alternative network means to forward messages enables the provision of an "auction protocol" for users. In its initial communication with a user, the satellite 12 "announces" the level of traffic it is currently accepting. The level of traffic is varied from, for example, level one, which is the fastest and most expensive mode of delivery, to the next fastest and less expensive mode of delivery, and so on until the slowest and least expensive level is reached. A user can, therefore, elect to send a message at the highest level of service, or wait for a cheaper lower level of service. The satellite system will be distinguished by the range of services offered, the low cost of its service options relative to those offered by similar proposed service providers and its high spectral efficiency. The types of services provided by the present invention include tracking and monitoring for the transportation industry, monitoring of remote assets or site locations, such as vehicles, boats and vacation homes or remote utility equipment, e-mail, paging, emergency services and other services. Combined Constellation An alternative embodiment of the invention combines satellites 12 in Equatorial, polar and inclined orbits. The present invention may utilize from six to fourteen satellites 12 in Equatorial orbit. The Equatorial relay stations 18 are used to store and forward traffic sent from satellites travelling in opposite directions in orbits 14, 15 inclined by 50 to 60 degrees. This method is similar to the method used by polar relay stations to store and forward traffic from satellites in more steeply inclined or polar orbits. Such an embodiment offers broad coverage and rapid transfer of messages everywhere on the Earth E. Communications Parameters Figure 1 1 depicts the frequencies and bandwidth at which the satellite system will communicate messages. The TSUs and the RSUs will operate in the 148-149.9 MHz band and the TSD and RSD will operate in the 137.175-137.825 MHz band. All of the links will carry "packetized" digital data. Network packets will be used for resource request and assignment, and other network control functions. Monitoring packets will be used for monitoring applications. Text packets will be used for message applications. The text packet length will be selected to comply with footnote US323 to the Frequency Allocation Table, 47 C.F.R. §2.106. Footnote US323 requires that, in the 148-149.9 MHz band, single transmissions from individual Earth stations may not exceed 450 msec in duration (4160 bits/9.6 KBPS = 433.3 msec). Frequency assignments for satellite downlinks 48b, 50b will be in four segments. For all satellites 12 in a given orbital plane 14, 15, the frequencies will be the same. Because of no overlap in the radio beam footprints of the six satellites 12 traveling in each fifty degree inclined orbit 14, 15, there is no interference between these satellites 12. Ground control of frequency assignments will prevent interference between satellites 12 in these orbits and satellites 12 in Equatorial orbit 14. In this embodiment, since satellites 12 in sectors of orbits on the same side of the Earth E will be transmitting on the same frequencies without interference from other satellites 12, it is possible to reduce the bandwidth of the TSD downlink signal spectrum to one-fourth of that used in some other embodiments. Each satellite 12 in this embodiment has six receive channels. Other embodiments may require up to fifteen receive channels. The method of channel assignment to the user terminal transmitters is discussed below in the Section entitled "Dynamic or Adaptive Channel Assignment". Telecommunication Frequencies and Spectrum The present invention has been designed from the outset to make efficient use of the scarce spectrum available. Table Two below summarizes the total spectrum available in the U.S. for this type of service, resulting from the allocations made at WARC-92 and in the Commission's Order allocating spectrum for the NVNG Mobile Satellite System. Table Two - MSS Frequency Allocations Below 1 GHz Earth-to-Space Space-to-Earth 148.000 to 150.050 MHz 137.000 to 138.000 MHz 399.900 to 400.050 MHz 400.150 to 401.000 MHz The table shows a total of 2.2 MHz available for the Earth-to-space links (uplink) and 1.85 MHz for the space-to-Earth links (downlink). However, parts of this available spectrum are only allocated on a secondary basis to the MSS service, and even the primary MSS allocations are allocated on a co-primary basis to other services, such as Fixed, Mobile, Meteorological-Satellite, Space Operation, Space Research and Meteorological Aids. The ability of the system to effectively and efficiently share the spectrum in this type of environment is therefore of paramount importance. TSD and RSD transmitter filters protect the radio astronomy service in the 150.05-153 MHz and 406.1-410 MHz bands from harmful interference by limiting spurious emissions in those bands. Data Transmission Figure 12 is a packet structure diagram 60 showing the information contained in certain fields. For example, the first field may contain the address of the recipient. The second field may contain the "hop" count or how many relays have occurred to the current time. The next field may contain the sequence count or frame number. The fourth field may contain the sender's identification, and so on. Table Three below describes the packet structures. Table Three: Packet Structures Network Monitoring Isxi Data 12 bytes 80 bytes 500 bytes Overhead 20 bytes 20 bytes 20 bytes Total 32 bytes 100 bytes 520 bytes The user terminal-satellite link bit error rate objective is IO "6 and the relay station-satellite link bit error rate objective is IO "8 . The packet overhead bits allow for synchronization, parity check, sequencing, status, and addressing and routing. Forward error correction coding is employed in the store-and-forward system. Raw data bits are mapped into symbols in a manner which results in each symbol containing information about multiple bits. Lost data bits can therefore be recovered. Each satellite will support six TSUs 50a at a data transmission rate of 9.6 kilobits per second (KBPS), one TSD 50b at a data rate of 24 kbps, one RSU 48a at a data rate of 50 KBPS, and one RSD 48b at a data rate of 50 KBPS. Thus, the user terminals 20 may transmit at 9.6 KBPS and receive at 24 KBPS. The TSU bandwidth is 15 kilohertz (KHz) and the TSD bandwidth is 28.8 KHz. The relay stations 18 will transmit and receive at 50 kbps and have a bandwidth of 50 KHz. While the nominal TSU transmission data rate is 9.6 KBPS, lower cost user terminals 20 are possible if lower data rates are used. Therefore, data rates as low as 300 BPS will be available. For example, a user terminal 20 might transmit at standard data rates of 9600, 4800, 2400, 1200, 600 or 300 BPS. Besides the low cost and availability of equipment capable of the lower transmission rates, battery power requirements are reduced substantially, which makes this method attractive for hand held or periodic reporting user terminals 20. For example, burst power for a 300 BPS signal is only about 20 milliwatts compared to about five watts for a 9.6 KBPS signal. The present invention uses a combination of random access and frequency division multiplexing (FDM) for the TSUs 50a and time division multiplexing (TDM) for the other links. FDM is preferred for the TSUs 50a because it does not require high burst power transmissions from the user terminals 20 that would be required for a single wideband TDM channel. TDM is preferred for the other links because it allows for the use of efficient saturated power amplifiers in the satellites 12 and relay stations 18. Back-off is not required to control intermodulation levels since there will be only a single RF carrier in these links. All of the links will use differentially encoded offset-quadraphase shift keying (OQPSK) modulation filtered for 50% excess bandwidth in combination with rate 7/8, constraint length 7, convolutional coding. This format has been selected because of its high combined modulation coding efficiency of 1.17 bits/sec/Hz. However, frequency shift keying (FSK) modulation is also used on a time- shared basis to support low-cost user terminals 212. A user terminal 212 can use an FSK demodulator absorbing only "trickle" power, i.e., low current, while waiting for a satellite signal to appear. An FSK signal can be sent at reduced data rate, for example KBPS, because of a smaller portion of spectrum occupied by an FSK modulated signal. A ground station looks for an ID code in the FSK mode. It can then, if desired, turn on the OQPSK keying demodulator and operate at a faster rate. The downlink 48b, 50b signal is partitioned into 500 msec frames. Initially, signals are FSK modulated. Later signals in the 500 msec frame may be FSK or OQPSK modulated depending on the demand. The network operation control center (NOCC) varies the time-sharing between FSK and OQPSK modulation depending on traffic load. The uplink (48a, 50a) signals are OQPSK modulated, although the use of FSK modulation and lower data rates offer some cost reduction. The required channel bandwidths are a function of the data rate, the spectral efficiency of the modulation and coding, the user terminal or relay station and satellite frequency stability, the uncompensated Doppler shift and the channel filtering. The required channel bandwidths are summarized in Table Four. Table Four: Channel Bandwidth Requirements User Terminal User Terminal Relay Station Relay Uplink Downlink Uplink Station Downlink Signal Bandwidth 8.2 KHz 20.5 KHz 42.8 KHz 42.8 KHz +/- Frequency Stability 0.6 0.3 0.3 0.3 +/- Doppler 4. 4 4.0 4.4 4.0 Total 13.2 24.8 47.5 47.1 Channel Bandwidth 15 KHz* 28.8 KHz 50 KHz 50 KHz *A single user terminal requi res 15 KHz, therefor e six simultaneous users require 90 Hz bandwidth. To implement an "auction" protocol, the satellite 12 indicates what level of traffic it is accepting within the 500 msec frame of the first burst of data. User terminals 20 wishing to send that level of traffic will do so. Terminals having lower levels of traffic will wait. The auction protocol sequentially lowers the level of traffic it is accepting until all users desiring the highest to the lowest level of service are accommodated. Enhanced Dynamic or Adaptive Channel Assignment Figure 13 depicts a functional block diagram of the satellite subsystems. These subsystems include an RF communications subsystem 70, a tracking, telemetry and control computer 80, an altitude determination and control subsystem 90, thermal control subsystem 100 and electric power subsystem 110. The communications payload 120 which includes the RF communications subsystem 70, a computer subsystem and a frequency reference, is shown in block diagram in Figure 14. The communications payload 120 includes a digital band-sampling receiver (DBSR) 121. The DBSR 121 monitors the pool of frequencies in the 148.0 to 149.9 MHz uplink band and assigns channels to user terminals 20 as available. The DBSR replaces an earlier, much slower band scanning receiver which scanned the entire band each 0.5 second and projected by algorithm the expected clear frequencies based on the 0.5 second history. The operation of the scanning features of the DBSR is discussed in greater detail below. Communications Payload Description A functional block diagram of the communications payload 120 is shown in Figure 14. The antenna subsystem converts the free space propagated waveforms into RF signals for processing by the user terminal-satellite uplink (TSU) receiver, the relay station-satellite uplink (RSU) receiver, and the band sampling receiver 121. It also converts the RF signals from the user terminal-satellite downlink (TSD) transmitter and the relay station-satellite downlink (RSD) transmitter into free space propagated waveforms. Two transmitting antennas are used, one for the TSD links and the other for the RSD links. This will eliminate the combining loss that would occur if the TSD and RSD signals were radiated from the same antenna. The spacecraft antennas will be shaped to partially compensate for the changing free space propagation loss due to the range variation that occurs between the time the satellite appears at the lowest elevation angle and the time it is directly overhead. This maximum variation in path loss corresponds to about 7.5 dB in propagation loss. As a result, the preliminary spacecraft antenna design has a gain of -2 dBi in the nadir direction and +5.5 dBi at a 15 degree grazing angle. The satellite antenna gain pattern 122 is shown in Figure 15. The satellite antennas will be left-hand circular polarized, though right-hand polarization is also possible. The TSU receiver will downconvert, demodulate, and decode the uplink signals 50a received from the transceivers. The TSU receiver will provide the demodulated packets to the computer subsystem at 57.6 kbps for processing. The RSU receiver will perform the same functions for the RSU channel. The TSD transmitter will accept packetized data from the computer subsystem at 24 KBPS, encode and modulate the data, upconvert it to the transmit channel frequency, and provide 20 watts of transmit power using a solid-state power amplifier (SSPA). The RSD transmitter will perform the same functions for the 50 KBPS RSD data using a 2.5 W SSPA. The frequency reference subsystem will provide stable frequency and time signals to the other functions. The computer subsystem will process all of the received packets, store them in memory, and retransmit them as required. It will also will use the data from the band scanning receiver to make TSU channel assignments. Key communications payload 120 parameters are shown in Table Five. Table Five: Key Satellite Communications Payload Parameters Δ--i--ιιna Nadir Gain ■2 dBi Edge of Coverage Gain 5.5 dBi Edge of Coverage Beamwidth 1 1 1 degrees Polarization LHC TSD Transmitter Frequency Band 137.175-137.825 MHz Number of Channels 1 Transmit Power 20 W 99% Power Channel Bandwidth 20.5 KHz Data Rate 24 KBPS RSD Transmitter Frequency Band 137.175-137.825 MHz Number of Channels 1 Transmit Power 2.5 W 99% Power Channel Bandwidth 42.8 KHz Data Rate 50 KBPS TSU Receiver Frequency Band 148-149.9 MHz Number of Channels 6 Channel Bandwidth 15 KHz Per Channel Data Rate 9.6 KBPS to 300 BPS, variable Noise Figure 4 dB RSU Receiver Frequency Band 148-149.9 MHz Number of Channels 1 Channel Bandwidth 50 KHz Per Channel Data Rate 50 KBPS Noise Figure 4 dB Band Scanning Receiver Frequency Band 148-149.9 MHz Number of Channels 1 Channel Bandwidth 15 KHz Noise Figure 4 dB Frequencv Reference Frequency Stability 0.1 PPM over environment and Computer Memory 16 Mbytes Digital Band-Sampling Receiver The digital band-sampling receiver 121 (DBSR) contained in the RF communications section 70, communications payload 120 of the satellite 12, is a digital spectrum analyzer. Two embodiments of the DBSR band sampling process are depicted in Figures 16 and 17. The input signal 125 to the DBSR is the 148.905 to 150.05 MHz, terminal-satellite uplink signal 50a from the satellite antenna subsystem. The output signal vector 140 from the DBSR 121 is derived from 458 average power estimates corresponding to 458, 2.5 KHz segments of the input band. The DBSR generates the output vector 140 once each 0.5 seconds. The vectors are used to identify free channels that can be assigned to user terminals 20. Figure 1 is a block diagram of a baseband sampling embodiment 123. In this embodiment, the input signal 125 is limited by a bandpass filter 124 to reduce out-of-band interference and low- noise amplified in an RF amplifier 126 to set the system noise floor. The amplified signal is equally divided in a power divider 128. The two power divider 128 outputs are down-converted to baseband signals I, Q. One power divider output is converted in a mixer 130 by an in-phase local, high frequency oscillator (HFO) 129 running at 149.4775 MHz to baseband signal I. The other power divider output is converted by the same HFO phase-shifted by 90 degrees in a phase shifter 132, in a second mixer 130 producing a second baseband signal Q. Each baseband signal I, Q is filtered by a low pass filter 134 having a band width of 572.5 KHz to prevent aliasing. Each baseband signal I, Q is sampled in an analog-to-digital (A/D) converter 136 at a rate of 1 145 kilosamples per second (KSPS). Digital signal samples I(n) are output from one A/D converter 136 and digital signal samples Q(n) are output from a second A D converter 136. The I(n) and Q(n) digital signal samples are processed by a digital signal processor (DSP) 138 which generates the output signal vector 140. A second embodiment of the DBSR band sampling process is displayed in Figure 17. In this embodiment, the input signal 125 is filtered in a bandpass filter 124, and amplified in an RF amplifier 126 as in the first embodiment 123 described above. In this embodiment, the amplified signal is down-converted in a mixer 130 to a convenient intermediate frequency (IF), selected to prevent aliasing, by an HFO 129. The HFO 129 in this case operates at 148.905 MHz. The IF signal is bandpass-filtered in a second bandpass filter 134 having a bandwidth of 1 145 KHz to prevent aliasing. The IF signal is then sampled in an A/D converter 136 at 2290 KSPS. The samples are processed by a DSP 138 which generates the output signal vector 140. At least two implementations of the digital signal processor (DSP) 138 can be used. The first implementation is a digital filter bank which has 458 digital filters. The digital filters select 458 band segments, each segment 2.5 KHz wide. The computation required in this implementation is prohibitive. Therefore, a second implementation is preferred. A Fast Fourier Transform (FFT) technique is used in which 458-point Fast Fourier Transforms are run and the 1250 output vectors are averaged over each 0.5 second interval. The output vectors 140 are used by the computer subsystem to assign frequencies to the user terminals 20 and relay terminals 18. User Terminals The present invention will provide a family of low-cost user terminals 20 or transceivers to support a variety of different applications. As illustrated by Figure 18, the heart of these transceivers is the modem module 200. The modem 200 will be small, less than ten cubic inches, and capable of battery operation. It will be available in pocket-sized, desktop, and vehicle mounted transceiver configurations. Table Six provides examples of how these modules might be combined for different applications. Other combinations are possible. Table Six: Possible Module Combinations for Different Applications ADDlications Leo One Battery Whip Expanded Parallel Palmtop Modem Pack Adapter Memory GPS Interface EC 200 212 214 206 202 210 204 208 Status X X X X Monitoring Vehicle X X Tracking Paging X X X E-Mail X X X X X Security X X X X Monitoring and Control Emergency X X X Alerting Application-specific transceiver configurations will be constructed by combining the modem module 200 with other modules in Figure 18. A schematic illustration of the modem module 200 is provided in Figure 19. Prices for a basic transceiver are expected to be under $US 500. User Terminal Technical Parameters A functional block diagram of the modem 200 is shown in Figure 19. The modem 200 will interface directly with an antenna 214. In most applications, the standard antenna 214 will be a normal-mode helix similar to those used with conventional hand-held VHF transceivers. In vehicle mounted applications, the standard vehicle FM radio antenna or an enhanced replacement will be used. The TSD receiver 220 will downconvert, demodulate, and decode the 24 KBPS satellite downlink channel. The TSU transmitter 222 will accept packetized data from the computer subsystem 224 at rates variable from 9.6 KBPS to 300 BPS, encode and modulate the data, upconvert it to the transmit channel frequency, and provide about 5 W of transmit power. The frequency reference subsystem 226 will provide stable frequency and time signals to the other functions. The computer subsystem 224 will process the received packets and make the data available to the other modules or directly to the subscriber via an RS-232 port. The computer will receive data to be packetized and uplinked from other modules or directly from the subscriber via a RS-232 port. The user terminal key technical parameters are summarized in Table Seven. User terminals 20 are to be incapable of radiating in the 108-137 MHz bands. Table Seven: Key User Terminal Parameters Antenna Pattern Non-Directional Polarization Vertical Transmitter Frequency Band 148-149.9 MHz Channel Bandwidth 15 KHz Number of Active Channels 1 Doppler Pre-Compensation ±2.2 KHz Transmit Power 5 W Burst Duration 450 msec Burst Spacing 15 seconds Duty Cycle 9 seconds every 15 minutes 99% Power Bandwidth 8.2 KHz Modulation OQPSK Coder Convolutional r = 7/8, K = 7 Data Rate 9.6 KBPS to 300 KBPS βeςejiLer Frequency Band 137.175-137.825 MHz Channel Bandwidth 28.8 KHz Number of Active Channels 1 Doppler Pull-In Range ±2.0 KHz Demodulation OQPSK & FSK Decoder Soft Decision Viterbi r = 7/8, K = 7 Data Rate 24 KBPS Noise Figure 4 dB Implementation Loss 2 dB Frequency Reference Frequency Stability 1.0 PPM over environment and time User Terminal Antenna Gain Patterns A typical user terminal 20 antenna gain pattern is shown in Figure 20. Relay Station Technical Parameters and Operation A relay station 18 functional block diagram 230 is shown in Figure 21. The RSD receiver 234 will downconvert, demodulate, and decode the 50 KBPS relay-satellite downlink 48b channel and provide the demodulated packets to the computer subsystem for subsequent processing. The RSU transmitter 232 will accept packetized data from the computer subsystem 236 at 50 KBPS, encode and modulate the data, upconvert it to the transmit channel frequency, and provide 1.8 W of transmit power. 24 The frequency reference subsystem 238 will provide stable frequency and time signals for the other functions. The computer subsystem 236 will perform the packet and network overhead functions including packet routing and billing. It will control the open loop pointing of the relay station antenna to acquire and follow the satellites 12. In addition, it will process Doppler frequency measurements of the satellite signals to refine their orbital estimates. The Telemetry Tracking & Control (TT&C) subsystem 240 will decode and process the telemetry data packets from the satellites 12 and generate and encode command packets for transmission to the satellites. All of the TT&C data will be encrypted to prevent unauthorized control of the satellites. The Network Operation & Control Center (NOCC) subsystem 242 will allow for control of the constellation. The NOCC functions will include resolving overlap conflicts by commanding one of the overlapping satellites to cease operation during the overlap and monitoring constellation traffic levels. The relay stations 18 will poll the satellites 12 to initiate data transfer. The relay stations 18 will predict when each satellite will appear above the minimum elevation mask angle and use open loop pointing of the relay station antenna to acquire and follow the satellite 12. The relay stations 18 will estimate the satellite signal Doppler shift to minimize acquisition time. The relay stations 18 will use Doppler frequency measurements of the satellite signals to refine their orbital estimates. The relay station-satellite uplink (RSU) and relay station-satellite downlink (RSD) signals are partitioned into 500 msec frames. Each frame will be divided into two time slots. The first time slot will be reserved for network control (Network packets). The remaining time slot will allow for the transfer of Text packets. Monitoring packets, or some combination. All packet exchanges will be acknowledged by the recipient using Network packets. The relay station 18 and the satellite 12 will send at least one Network packet in the network control time slot until the relay station 18 signs off. A public switched telephone interface 244 connect the relay station 18 to other networks, destination addresses or other relay stations 18. The key relay station technical parameters are summarized in Table Eight. Table Eight: Key Relay Station Technical Parameters Antenna Operating Frequency 137-138 MHz & 148-149.9 MHz Polarization LHC Gain 16 dBi Half Power Beamwidth 22.5 degrees RεεejyjEE Frequency Band 137.175-137.825 MHz Channel Bandwidth 50 KHz Number of Channels 1 Doppler Shift 2.1 KHz Demodulation Differential OQPSK Decoding Soft Decision Viterbi, r = 7/8, K = 7 Data Rate 50 KBPS Noise Figure 4 dB Implementation Loss 2 dB Transmitter Frequency Band 148-149.9 MHz Channel Bandwidth 50 KHz Signal Bandwidth (99% power) 71.3 KHz Number of Channels 1 Transmit Power 1.8 Watts Modulation Differential OQPSK and FSK Coding rate-7/8, constraint length 7 convolutional Data Rate 50 KBPS Frequency Reference Frequency Accuracy 0.1 PPM over environment and time Other System Services Besides those services identified above, other system services can be easily provided by the present invention. Some of these are described below. Seaborne Radio Beacon System Figure 22 shows schematically a radio beacon system 250 for monitoring sea environment and tracking data with deployed buoys 252 transmitting data through the satellite constellation-to- ground terminal links 50a, 48b, 51 of this invention. A low cost buoy 252 is fitted with environmental and weather instrumentation 256 and/or an underwater listening device 254 such as sonar. The buoy also contains a position-determining device such as LORAN or Global Positioning System (GPS). An on-board user terminal 20 sends buoy-collected environmental, tracking and positioning data through the TSU 50a to the satellite 12. The data is then disseminated to a receiving party through a relay station 18 and terrestrial communication links 51. As an example, oil spills can be tracked by dropping such a buoy 252 into the slick from an aircraft. Interactive Television Return Link Figure 23 is a schematic depiction of an interactive television system 260 which uses a return link from a viewer to a TV broadcaster through the satellite constellation 10 of this invention. A television signal from a direct broadcasting satellite such as C-band or Ku band devices is captured by an integrated antenna system 265 consisting, for example, of a small dish antenna 264 which receives the TV satellite signal and an integrated whip antenna 262 for communication with a satellite 12 operating in accordance with the present invention. The user views the television program on a TV screen 272 which is derived from a television signal 261 in a TV converter 266, carried through coaxial cable 263. The converter 266 is integrated with a modem 200 and connected to a personal computer or other data input device 268. The user sends his interactive responses to a broadcaster by entering them in the computer 268 which is converted to a TSU signal 50a by the modem 200 and transmitted to a satellite 12 for delivery to the broadcaster. Figure 24 depicts the return link from a viewer of a direct broadcasting satellite 282 TV broadcast 261 through the terminal-satellite uplink 50a, satellite constellation-to-ground terminal links of this invention and terrestrial based data networks 51. It is also possible for a broadcaster or intermediary to confirm the receipt of the user's data by returning a message through the satellite constellation-to-ground terminal links and the terminal-satellite downlink 50b. Connectivity of Office or Factory Data to Other Systems from Within a Structure Figure 25 is a schematic diagram showing a method 290 of providing connectivity to other systems from movable devices or devices with low rate data inside a building 292 or other structure which shields the user's radio signal from the satellite. The data input devices 291 may be pagers, computers, facsimile machines, copy machines, etc. A non-licensed personal communication service (PCS) 294 is coupled to a data input device 291 through a coupling device 296. The coupling device 296 may be a PCMCIA, RS232, RJ1 1 or other connector. Such a personal communication system is limited to low power, short range transmitters. The data is transmitted by the PCS to a nearby, integrated terminal 298 which contains a PCS transceiver coupled to a LEO One USA™ modem 200. An antenna 299 is connected to the modem 200. This system offers a user 295 two-way data communication even though he or she is shielded in a windowless structure or perhaps underground. The modem 200 retransmits the data through the antenna 299 as a TSU signal 50a to a passing satellite 12 in the constellation 10 of the invention. The data is forwarded by the satellite 12 and relay stations 18 and return messages are received from a satellite 12 via the TSD 50b and relayed through the unlicensed PCS 294. The integrated terminal 298 may be powered by a solar panel 297. Such systems 290 are particularly useful in very old structures, third-world locations and other situations where direct wiring from the data input device 291 to the modem 200 is difficult or expensive to install. The system 290 also has use where the data input device 291 is movable or portable. Time Synchronization Broadcasts Many devices, including consumer products and industrial control devices require or make use of time information. Electric clocks can drift or be delayed by power outages. Currently, a time standard is supplied world-wide by The National Bureau of Standards through short wave radio stations WWV. The recipient must have a short wave receiver and substantial antenna to receive these signals reliably. For automatic synchronization, the WWV signal must be decoded and applied to a device through sophisticated electronics means which would be much too expensive for the average consumer and the average industrial user. Satellites 12 orbiting in the constellation 10 of this invention can transmit narrow data messages at regular intervals that can be used to synchronize clocks to the National Bureau of Standards clock anywhere in the world through a relatively inexpensive user terminal. A satellite 12 would broadcast Universal Coordinated Time (UTC) signals which is converted to local time by a customer setting the appropriate time zone into his system. Monitoring Remotely Installed Devices or Machines for Non-Functioning or Needed Repair Almost any type of device or machine remotely installed from a responsible owner's home office can be monitored for non-functioning by means of an inexpensive user terminal 20 connected to the device to be monitored and transmitting the data through satellite 12 orbiting in the constellation 10 of this invention. This type of monitoring reduces or eliminates the need for personnel to patrol the devices or machines. For example, remote boulevard lights 310 can be fitted with a switch which indicates failure of the lamp. A transmitter reacts to the operation of the switch by sending a packet containing a short code which identifies the location of the boulevard light 310. Other similar uses are possible: monitoring overnight courier service drop and for postal service deposit box 312 for packages to be picked up or for replenishing supplies; monitoring vending machines 314 for replenishing stock; monitoring aircraft warning lights 316 on tall buildings and/or hazards including electrical radio or television towers, where failure of these lights can result in significant financial penalties to the owner, etc. Wide Area Broadcast of Updated Information Market data on a near-real time basis can be disseminated on a global basis through satellites 12 orbiting in the constellation 10 of this invention. Field sales representatives can receive, for example, updated price adjustments and monetary exchange rates. Brokers can receive updated securities quotes from world-wide markets, interest rates and commodity prices. Other users can receive updated weather, sports information, etc. While the transmission of these data is well known, the use of the satellite system of the present invention presents a novel, unique and efficient method of reaching users on a regional, national and international basis, leading to a more competitive business. INDUSTRIAL APPLICABILITY The Optimal Coverage Satellite System described above will provide new non-voice, non- geostationary mobile satellite service to millions of subscribers across the globe. The present invention will offer a wide range of vital services, including tracking and monitoring for the transportation industry; fixed site monitoring of industrial/utility locations; monitoring and tracking for misplaced or stolen assets; transmission of e-mail; two-way alphanumeric paging and emergency services. CONCLUSION Although the present invention has been described in detail with reference to a particular preferred embodiment, persons possessing ordinary skill in the art to which this invention pertains will appreciate that various modifications and enhancements may be made without departing from the spirit and scope of the claims that follow. The various orbital parameters, altitudes and populations and locations of the user terminals and relay stations that have been disclosed above are intended to educate the reader about preferred embodiments, and are not intended to constrain the limits of the invention or the scope of the claims. The List of Reference Characters which follows is intended to provide the reader with a convenient means of identifying elements of the invention in the specification and drawings. This list is not intended to delineate or narrow the scope of the claims. LIST OF REFERENCE CHARACTERS Figure 1 10 Constellation of satellites operating in pairs of orbital planes, inclined at 50 degrees 12 Satellite 14 Inclined orbital plane 15 Conjugate inclined orbital plane 16 Equator 18 Ground relay station 20 Distributed user terminals 22 Conjugate pairs of orbital planes E Earth Figure 3 12 Satellite 24 Satellite body 26 Helical antennas 28 Solar panels Figure 4 18 Ground relay station 30 Elevation mask angle E Earth Figure 5 12 Satellite 12a Satellite leaving ascending node of orbital plane 12b Satellite leaving descending node of conjugate orbital plane 14 Inclined orbital plane 15 Conjugate orbital plane 16 Equator 22 Conjugate pairs of orbital planes 40a Ascending node of orbital plane 40b Descending node of conjugate orbital plane E Earth NP North Pole SP South Pole Figure 9 12 Satellite 18 Ground relay station 20 User terminals 48a Relay station-satellite uplink (RSU) 48b Relay station-satellite downlink (RSD) 50a User terminal-satellite uplink (TSU) 50b User terminal-satellite downlink (TSD) Figure 10 12 Satellite 14 Inclined orbital plane 16 Equator 18 Ground relay station 48b Relay station-satellite downlink (RSD) 51 Terrestrial links, e.g., public telephone network 52 Geostationary satellite 53 Satellite very small aperture terminal (VSAT) links 54 Latitude 60 degrees North 56 Latitude 30 degrees North 58 Latitude 30 degrees South Figure 11 12 Satellite 48a Relay station-satellite uplink (RSU) 48b Relay station-satellite downlink (RSD) 50a User terminal-satellite uplink (TSU) 50b User terminal-satellite downlink (TSD) Figure 12 60 Packet structure diagram Figure 13 70 RF communications subsystem 80 Tracking, telemetry & control computer 90 Attitude determination and control subsystem 100 Thermal control subsystem 110 Electric power subsystem Figure 14 120 Communications payload block diagram 121 Band sampling receiver Figure 15 122 Satellite antenna gain pattern Figure 16 123 Baseband sampling embodiment of the digital band sampling receiver 124 Band pass filter 125 Input band signal 126 RF amplifier 128 Power divider 129 High frequency oscillator 130 Mixer 132 90 degree phase shifter 134 Low pass filter 136 Analog-to-digital converter 138 Digital signal processor 140 Output signal vector I Baseband signal Q Phase-shifted baseband signal I(n) Digital signal samples Q(n) Phase-shifted, digital signal samples 32 Figure 17 124 Band pass filter 125 Input signal 126 RF amplifier 129 High frequency oscillator 130 Mixer 134 Low pass filter 136 Analog-to-digital converter 138 Digital signal processor 140 Output signal vector Figure 18 200 Modem module 202 Expanded memory 204 Parallel interface 206 AC adapter 208 Palmtop personal computer 210 Global positioning system GPS) 212 Battery pack 214 Whip antenna Figure 19 200 Modem module 214 Antenna 220 Terminal-to-satellite downlink (TSD) receiver 222 Terminal-to-satellite uplink (TSU) transmitter 224 Computer subsystem 226 Frequency reference Figure 21 230 Relay station functional block diagram 232 Relay station-to-satellite uplink (RSU) transmitter 234 Relay station-to-satellite downlink (RSD) receiver 236 Computer subsystem 238 Frequency reference 240 Tracking, telemetry and control subsystem 242 Network operation and control center (NOCC) subsystem 244 PSTN interface Figure 22 250 Schematic illustration of a user service employing deployed buoys for sending remote data 12 Satellite 18 Ground relay station 20 User terminal 48b Relay station-satellite downlink (RSD) 50a User terminal-satellite uplink (TSU) 51 Terrestrial link, e.g., public telephone network 252 Deployed buoy 254 Underwater listening device 256 Environmental & weather instruments Figure 23 260 Schematic depiction of an interactive television system using a return link from a viewer to a TV broadcaster through the satellite constellation of this invention. 200 LEO One™ Modem 261 Television signal provided by broadcasting satellite 262 TSU whip antenna 263 Coaxial cable from antenna to video and data input equipment 264 TV satellite antenna 265 Integrated antenna system 266 TV converter/tuner and modem for communicating with the satellite constellation used in this invention 268 Data input device, e.g., personal computer 272 TV receiver Figure 24 280 Schematic depiction of the return link from a viewer of a satellite TV broadcast through the satellite constellation-to-ground terminal links of this invention and terrestrial based data networks 12 Satellite 18 Relay station 50a Terminal satellite uplink 50b Terminal satellite downlink 51 Terrestrial link 261 Television signal provided by broadcasting satellite 282 TV broadcasting satellite Figure 25 290 Depiction of a method of providing connectivity to movable devices or devices with low rate data inside a building which shields the user's radio energy from the satellite 12 Satellite 50a Terminal satellite uplink 50b Terminal satellite downlink 200 LEO One™ modem 291 Data input device, e.g., personal computer, handy-talky, pager, etc. 292 Building shielding user from satellite 294 Personal communication system (PCS) within building 295 User 296 Interconnection device; e.g., PCMCIA, RS232 or other modem 297 Solar panel 298 Integrated pcs transmitter/receiver and TSU transmitter TSD receiver 299 TSU TSD antenna 310 Boulevard light 312 Mail drop 314 Vending machine 316 Tall building/Hazard warning lights

Claims: CLAIMS What is claimed is: 1. A satellite communication system comprising: a plurality of relay stations (18); a plurality of user terminals (20); a constellation (10) of communication satellites (12) operating in a plurality of pairs of low Earth orbital planes (22); each of said pairs of low Earth orbital planes (22) including an inclined orbital plane (14) and a conjugate inclined orbital plane (15); said inclined orbital plane (14) and said conjugate inclined plane (15) each having an ascending node (40a) and a descending node (40b); said ascending node (40a) of said inclined orbital plane (14) being displaced by approximately 180 degrees right ascension from said ascending node (40a) of said conjugate inclined orbital plane (15); each of said plurality of satellites (12) being capable of communicating with at least one of said plurality of relay stations (18) and with at least one of said plurality of user terminals (20); said plurality of user terminals (20) being distributed over the Earth (E); and said plurality of relay stations (18) being distributed at locations on the Earth (E) to facilitate the forwarding of messages and/or data between any two of said plurality of user terminals (20) and/or constellation of communication satellites (12). 2. A satellite communication system as claimed in Claim 1, in which said constellation (10) of satellites (12) includes forty-eight satellites (12) operating at approximately 950 km altitude; said plurality of pairs of low Earth orbital planes (22) includes eight of said inclined orbital planes (14, 15), six of said satellites (12) operating in each of said inclined orbital planes (14, 15); and said ascending node (40a) of said inclined orbital planes (14, 15) occurs at right ascension angles of approximately 0, 45, 90, 135, 180, 225, 270 and 315 degrees respectively. 3. A satellite communication system as claimed in Claim 1 or 2, wherein said relay stations (18) are capable of communicating with each other through a satellite link and/or a terrestrial link (51). 4. A satellite communications system as claimed in Claim 3, in which: each of said plurality of communication satellites (12) has a communications payload (120) for establishing a relay-satellite uplink (48a) and a relay-satellite downlink (48b) and communicating with at least one of said plurality of relay stations (18) therewith, and for establishing a terminal-satellite uplink (50a), and a terminal-satellite downlink (50b) and communicating with at least one of said plurality of user terminals (20) therewith; each of said plurality of relays stations (18) has a relay-satellite uplink transmitter (232), a relay-satellite downlink receiver (234), and a very small aperture terminal (VSAT) link (53) for communicating with a geostationary, communication satellite (52); said relay-satellite uplink (48a), said relay-satellite downlink (48b), said very small aperture terminal link (53), and said terrestrial link (51) being used for communication between one said relay station (18) and another said relay station (18) and with each of said plurality of user terminals (20); each of said plurality of user terminals (20) has a modem (200) for communicating said message through said terminal-satellite uplink (50a) to one of said plurality of communication satellites (12); and said message is stored on board said satellite (12) and forwarded to said destination through such combination of said terminal-satellite uplink (50a), said relay station-satellite links (48a, 48b), said terminal satellite downlink (50b), said terrestrial link (51 ) and/or said VSAT link (53) to minimize the time required to forward said message. 5. A satellite communications system as claimed in Claim 1, in which said message is carried as packets of digital data. 6. A satellite communication system as claimed in Claim 3, in which said terrestrial link (51) is a publicly switched telephone network (PSTN). 7. A satellite communication system as claimed in Claim 4, in which said terminal-satellite uplink (48a), said terminal-satellite downlink (48b), said relay-satellite uplink (50a), and said relay-satellite downlink (50b) are operated at radio frequencies allocated to non-voice, non-geosynchronous mobile satellite systems. 8. A satellite communication system as claimed in Claim 4, in which said communications payload (120) includes: a dynamic, adaptive channel assignment system, on board each of said plurality of satellites (12), for monitoring an input band signal (125) carried on said terminal-satellite uplink (50a) at radio frequency and assigning unoccupied frequency channels to each of said plurality of user terminals (20); said adaptive channel assignment system having an output of a plurality of rapidly obtained signal output vectors (140) derived from an average power estimate corresponding to signals on segments of said input band signal (125); said signal output vectors (140) containing information of frequency channels currently unoccupied. 9. A satellite communication system as claimed in Claim 4, in which said user terminal (20) is adapted to tracking and reporting a moving object's position and environment, said system further comprising: a global positioning system (GPS) module (210); and environmental instrumentation (256); said GPS module (210) and said environmental instrumentation (256) being coupled to said modem (200) and supplying geographical position information and environmental data which is then transmitted as digital data to a receiving party through such combination of said terminal-satellite uplink (50a), said relay station-satellite links (48a, 48b), said terminal satellite downlink (50b), said VSAT link (53) and/or said terrestrial link (51 ) to minimize said time to forward said digital data to said receiving party. 10. A satellite communication system as claimed in Claim 4, in which said user terminal (20) is adapted to monitoring data from systems, movable devices and devices with low data rate contained within a structure (292) which shields a user's radio signal from said satellites (12), further comprising: an input data device (291 ) for supplying digital business and/or manufacturing information; a personal communication service (PCS) system (294) located within said structure (292)); a coupling device (296); said input data device (291) being coupled to an input of said PCS system (294) through said coupling device (296); said PCS system (294) coupled at an output to said modem (200) of said user terminal (20); and said business and/or manufacturing information being relayed from said input data device (291) through said PCS system to said modem (20) for transmission by said user terminal (20) to a receiving party through such combination of said terminal-satellite uplink (50a), said relay station-satellite links (48a, 48b), said terminal satellite downlink (50b), said VSAT link (53) and/or said terrestrial ink (51 ) to minimize said time to forward said digital data to said receiving party. 11. A satellite communication system as claimed in Claim 4, adapted to an interactive television system (260) which uses direct television programming supplied by a broadcaster, further comprising: an antenna system ( 265) including a small television dish antenna (264) for receiving a television satellite signal (261) and a whip antenna (262) for communication with said communication satellites (12); a television converter (266) copuled to said modem (200); a television receiver (272) for displaying said television satellite signal to a user; a data input device (268); said user being capable of entering interactive responses to said television broadcaster by means of said data input device (268); and said responses being transmitted by said user terminal (20) to one of said communication satellites (12) for delivery to said broadcaster through such combination of said terminal- satellite uplink (50a), said relay station-satellite link (48a, 48b), said terminal-satellite downlink (50b), said VSAT link (53) and/or said terrestrial link (51) to minimize said time to forward said digital data to said receiving party. 12. A satellite communication system, as claimed in Claim 4 in which said user terminal (20) is adapted to monitoring the functioning of a boulevard light (310). 13. A satellite communication system, as claimed in Claim 4 in which said user terminal (20) is adapted to monitoring the functioning of a vending machine (314). 14. A satellite communication system, as claimed in Claim 4 in which said user terminal (20) is adapted to monitoring the contents of a courier service drop and/or postal service deposit box (312). 15. A satellite communication system, as claimed in Claim 4 in which said user terminal (20) is adapted to monitoring the functioning of aircraft warning lights installed in tall buildings and/or structural hazards (316), including, electrical, radio, or television transmission towers. 16. A satellite communication system as claimed in Claim 8, in which said dynamic, adaptive channel assignment system includes: a band-sampling receiver (121) which produces said signal output vectors (140) from said input band signal (125) input to a baseband sampling section (123); said baseband sampling section (123) having as components an RF band pass filter (124) for reducing out-of-band interference; an RF amplifier 126 for amplifying an output from said bandpass filter (124); a power divider (128) for equally dividing an output from said RF amplifier (126) into a first output and a second output; a high frequency oscillator (129); a 90 degree phase shifter (132); a first mixer (130) for converting said first output of said power divider (128) to a first baseband signal (I) with a hetrodyne signal from said high frequency oscillator (129); a second mixer (130) for converting said second output of said power divider (128) to a second baseband signal (Q) with a signal from said high frequency oscillator (129), phase shifted 90 degrees by said 90 degree phase shifter (132); a plurality of low pass filters (134) for preventing aliasing of said first baseband signal (I) and said second baseband signal (Q); a plurality of analog-to-digital converters ( 129) for converting said first baseband signal (I) to a first digital signal sample (I(n)) and converting said second baseband signal (Q) to a second digital signal sample (Q(n)); and a digital signal processor (138) for generating said output signal vectors (140) from inputs of said first digital signal samples (I(n)) and said second digital signal samples (Q(n)); said components (124, 126, 128, 129, 130, 132, 134, 136, 138) of said baseband sampling section (123) cooperating together to produce an average power estimate for segments of said band of radio frequencies (125) and to generate said output vector (140). 17. A satellite communication system, as claimed in Claim 1 in which each of said communication satellites ( 12) operates in orbits which may preferably be elliptical orbits, or elliptical orbits with foci having different lengths, with the most preferable being circular orbits, which support the lowest power requirements for user terminal transmitters. 18. A satellite communication system, as claimed in Claim 1 in which one or more of said orbit planes (14,15) may be between 100 km and 12,000 km altitude, preferably between 100 km and 1,200 km, with the most preferred embodiment being a 950 km altitude which provides the best compromise between system coverage for users and cost. 19. A satellite communication system, as claimed in Claim 1 in which one or more of said orbit planes (14, 15) may be inclined between zero degrees and 180 degrees to the Earth's Equator, preferably between 40 degrees and 80 degrees, with the most preferred embodiment inclined at 50 degrees to the Earth's Equator which provides ideal system coverage for the most densely populated latitudes of the Earth. 20. A satellite communication system, as claimed in Claim 1 in which one or more adjacent said orbit planes (14, 15) may have an interplane phase angle between zero degrees and 360 degrees, preferably between zero degrees and 45 degrees, the most preferred embodiment being 7.5 degrees. 21. A satellite communication system, as claimed in Claim 1 in which there may be between two and twelve satellites (12) in an orbital plane (14, 15), preferably between five and eight, with the most preferred embodiment having six satellites (12) per orbital plane (14, 15), which provides the best compromise between system efficiency and cost. 22. A satellite communication system, as claimed in Claim 1 in which there may be between two and twelve orbital planes (14, 15), preferably between four and ten, with the most preferred embodiment having eight orbital planes (14, 15), which provides the best satellite visibility from the Earth's northern latitudes. 23. A method for conducting communications with a satellite communication system, comprising the steps of: distributing a plurality of user terminals (20) over the Earth (E); distributing a plurality of relay stations (18) at places on the Earth (E) to facilitate the forwarding of a message between any of said plurality of user terminals (20) and a destination; providing a terrestrial link (51) and connecting at least two of said plurality of relay stations (18) to said terrestrial link (51); deploying a constellation (10) of communication satellites (12); said communication satellites (12) operating in a plurality of pairs of orbital planes (22) substantially below geo-synchronous altitude; each of said pairs of orbital planes (22) including an inclined orbital plane (14) and a conjugate inclined orbital plane (15), said inclined orbital plane (14) and said conjugate inclined plane (15) each having an ascending node (40a) and a descending node (40b); said ascending node (40a) of said inclined orbital plane (14) being displaced by approximately 180 degrees right ascension from said ascending node (40a) of said conjugate inclined orbital plane (15). 24. A method as claimed in Claim 23; in which the step of deploying a constellation (10) of communication satellites (12) includes the steps of: deploying forty-eight satellites (12) in said plurality of pairs of inclined orbital planes (22), including eight circular orbital planes (14, 15), six of said satellites (12) operating in each of said eight circular orbital planes (14, 15) at approximately 950 km altitude; and placing said ascending node (40a) of said inclined orbital planes (14, 15) at right ascension angles of approximately 0, 45, 90, 135, 180, 225, 270 and 315 degrees respectively. 25. A method according to Claim 23 or Claim 24 including the step of providing a terrestrial link (51) and connecting at least two of said plurality of relay stations (198) to said terrestrial link (51). 26. A method as claimed in Claim 25 in which the step of deploying a constellation (10) of communication satellites (12) further includes the steps of: providing each of said plurality of satellites (12) with a communications payload (120) for establishing a relay-satellite uplink (48a) and a relay-satellite downlink (48b) for communicating with at least one of said plurality of relay stations (18); providing each of said plurality of satellites (12) with a communications payload (120) for establishing a terminal-satellite downlink (50b) and a terminal-satellite uplink (50a), for communicating with at least one of said plurality of user terminals (20); providing each of said plurality of relay stations (18) with a relay-satellite uplink transmitter (232), a relay-satellite downlink receiver (234), a very small aperture terminal (VSAT) link (53) for communicating with a geostationary, communication satellite (52) and a terrestrial link interface (51); and using said relay-satellite uplink (48a), said relay-satellite downlink (48b), said very small aperture terminal link (53), and said terrestrial link (51) for communication between one of said relay stations (18) and or another of said relay stations (18) and with said user terminals (20). 27. A method as claimed in Claim 25 in which the step of providing a terrestrial link (51 ) includes the step of: connecting at least two of said plurality of relay stations (18) to a publicly switched telephone network (PSTN). 28. A method as claimed in Claim 23, in which the step of forwarding a message to a destination includes the step of converting said message to packets of digital information. 29. A method as claimed in Claim 26 further including the steps of: communicating said message from one of said plurality of user terminals (20) having a modem (200), through said terminal-satellite uplink (50a) to one of said plurality of satellites (12); storing said message on board said satellite (12); and forwarding said message to said destination through such combination of said relay station- satellite links (48a, 48b), said terminal satellite downlink (50b), said terrestrial link (51 ) and said VSAT link (53) to minimize the time required to forward a message. 30. A method as claimed in Claim 26 further including the steps of: monitoring input band signals (125) carried on said terminal-satellite uplink (50a) at radio frequency; deriving an output of a plurality of rapidly obtained signal output vectors (140) from an average power estimate corresponding to input band signals (125) monitored with a dynamic, adaptive channel assignment system, on board each of said plurality of satellites (12); said signal output vectors (140) containing information of frequency channels currently unoccupied; and assigning unoccupied frequency channels to each of said plurality of user terminals (20) with said adaptive channel assignment system. 31. A method as claimed in Claim 29, in which the step of distributing a plurality of user terminals (20), includes the steps of: deploying a buoy (252) in a maritime location; said buoy (252) containing environmental and weather instrumentation (256) for collecting environmental data; and/or an underwater listening device (254) for collecting vessel-tracking data; and/or a position-determining device (LORAN, GPS) for collecting positioning data; and one of said plurality of user terminals (20) for transmitting said environmental, tracking and/or positioning data through such combination of said terminal-satellite uplink (50a), said relay station-satellite links (48a, 48b), said terminal-satellite downlink (50b), said VSAT link (53) and said terrestrial link (51 ) to minimize the time required to forward said digital data to said receiving party. 32. A method as claimed in Claim 29, in which the step of distributing a plurality of user terminals (20), includes the steps of: providing an antenna system (256) at a site of a television viewer; said antenna system (256) having a first receiving antenna (264) for receiving broadcast television signals (261 ) provided by a broadcaster from a direct-broadcasting satellite (282), and having a second antenna 262 for communication with a satellite (12) of said constellation (10); providing a television converter/tuner (266) having a modem (200); said television converter/tuner (266) coupled to said antenna system (256); coupling an input device (268) for entering data and a television receiver (272) for displaying said television signals (261), to said television converter/tuner (266); and said television viewer sending responses to said broadcast television signals (261 ) displayed on said television receiver (272) to said broadcaster by entering said responses on said data input device (268) and transmitting said responses through such combination of said terminal-satellite uplink (50a), said relay station-satellite links (48a, 48b), said terminal- satellite downlink (50b), said VSAT link (53) and said terrestrial link (51) to minimize the time required to forward said digital data to said receiving party. 33. A method as claimed in Claim 29, in which the step of distributing a plurality of user terminals (20), includes the steps of: providing communications to one or more of said satellites (12) in said constellation of communication satellites (10), from movable devices (291) which are shielded from radio signals (50a, 50b) transmitted and received by said satellites (12) by a man-made or natural structure (292), by relaying data from said movable devices (291) through a low-power, personal communication system (294) to a nearby, user terminal (298) communicating with at least one of said plurality of satellites (12). 34. A method as claimed in Claim 29, in which the step of distributing randomly a plurality of user terminals (20), includes the steps of: coupling one of said plurality of user terminals (20) to a clock in a local clock system; said local clock system responding to Universal Coordinated Time (UTC) signals; obtaining said Universal Coordinated Time (UTC) signals provided by the National Bureau of Standards through a communication link (50a, 51); broadcasting said Universal Coordinated Time (UTC) signals through said satellites (12) in said constellation (10); receiving said Universal Coordinated Time (UTC) signals at one of said plurality of user terminals (20); passing said Universal Coordinated Time (UTC) signals to said local clock system; and synchronizing said clock in said local clock system to said Universal Coordinated Time (UTC) signals. 35. A method as claimed in Claim 29, in which the step of distributing a plurality of user terminals (20), includes the steps of: coupling a user terminal (20) to a monitoring device connected to a remotely installed system; said monitoring device delivering a signal indicating proper functioning of said remotely installed system to one of said plurality of user terminals (20); monitoring proper functioning of said remotely installed system with said monitoring device; and transmitting said signal through such combination of said terminal-satellite uplink (50a), said relay station-satellite links (48a, 48b), said terminal-satellite downlink (50b), said VSAT link (53) and/or said terrestrial link (51) to minimize the time required to forward said digital data to said receiving party. 36. A method as claimed in Claim 29, further including the steps of: obtaining commercial market information in real time through one or more communication links (50a, 51); broadcasting said commercial market information through said satellites (12) in said constellation (10); and receiving said commercial market information at one or more of said plurality of user terminals (20) for use in commercial transactions. 37. A method as claimed in Claim 29, further including the step of: operating said terminal-satellite uplink (50a), said terminal-satellite downlink (50b), said relay-satellite uplink (48a), and said relay-satellite downlink (48b) at radio frequencies allocated to non-voice, non-geosynchronous mobile satellite systems. 38. A method as claimed in Claim 29, adapted for tracking and reporting a moving object's position and environment, further comprising the steps of: providing a global positioning system (GPS) module (210); providing environmental instrumentation (256); coupling said GPS module (210) and said environmental instrumentation (256) to said modem (200) and supplying geographical position information and environmental data to said user terminal (20) through said modem (200); and transmitting said information as digital data to a receiving party through such combination of said relay station-satellite links (48a, 48b), said terminal satellite downlink (50b), said VSAT link (53) and said terrestrial link (51 ) to minimize the time required to forward said digital data to said receiving party. 39. A method as claimed in Claim 29, adapted to monitoring data from systems, movable devices and or devices with low data rate contained within a structure (292) which shields a user's radio signal from said satellites (12), further comprising the steps of: supplying business and/or manufacturing information with an input data device (291); providing a personal communication service (PCS) system (294) located within said structure (292); connecting said input data device to an input of said PCS service with a coupling device (296); coupling said PCS system (294) at an output to said modem (200) of said user terminal (20); and relaying said business and/or manufacturing information from said input data device (291) through said PCS system to said modem (20); and transmitting said business and/or manufacturing information with said user terminal (20) to a receiving party through such combination of said terminal-satellite uplink (50a), said relay station-satellite link (48a, 48b), said terminal-satellite downlink (50b), said VSAT link (53) and/or said terrestrial link (51) to minimize the time required to forward said digital data to said receiving party. 40. A method as claimed in Claim 29, adapted to an interactive television system (260) which uses direct television programming supplied by a broadcaster, further comprising the steps of: supplying an antenna system (265) including a small television dish antenna (264) for receiving a television satellite signal (261) and a whip antenna (262) for communication with said telecommunication system satellites ( 12); coupling a television converter (266) with said modem (200); displaying said television satellite signal to a user on a television receiver (272); coupling a data input device (268) to said modem (200); entering a user's interactive responses to said television display into said data input device (268) converting therein said responses to digital data and inputting said digital data to said modem (200); and transmitting said responses input to said modem (200) from said user terminal (20) to one of said optimal coverage satellites (12) for delivery to said broadcaster through such combination of said terminal-satellite uplink (50a), said relay station-satellite links (48a, 48b), said terminal-satellite downlink (50b), said VSAT link (53) and said terrestrial link (51) to minimize the time required to forward said digital data to said receiving party. 41. A method as claimed in Claim 29, adapted to synchronizing clocks anywhere in the world, further comprising the steps of: monitoring Coordinated Universal Time (UTC) signals and other time standard data from The National Bureau of Standards, broadcast through short wave radio station WWV, received by one of said plurality of satellites (12) in said constellation (10), and transmitted to said user terminal (20) through said terminal-satellite downlink (50b); decoding said signals at said modem (200) in said user terminal (20); supplying decoded said signals to a clock coupled to said modem (200); and synchronizing said clock with UTC. 42. A method as claimed in Claim 39, in which said step of supplying business and/or manufacturing information with an input data device (291) includes monitoring data from remotely installed equipment for non-functionality and/or needed repair. 43. A satellite communication system, as claimed in Claim 35 or 42 in which the step of monitoring data from remotely installed equipment for non-functionality and/or needed repair includes monitoring the functioning of a boulevard light (310) 44. A method as claimed in Claim 35 or 42 in which the step of monitoring data from remotely installed equipment for non-functionality and/or needed repair includes monitoring the functioning of a vending machine (314). 45. A method as claimed in Claim 35 or 42 in which the step of monitoring data from remotely installed equipment for non-functionality and/or needed repair includes monitoring the contents of a courier service drop and/or postal service deposit box (312). 46. A method as claimed in Claim 35 or 42 in which the step of monitoring data from remotely installed equipment for non-functionality and/or needed repair includes monitoring the functioning of aircraft warning lights installed in tall buildings and/or structural hazards (316), including, electrical, radio, or television transmission towers. 47. A satellite communications apparatus comprising: a plurality of relay stations (18); a plurality of user terminals (20); a constellation (10) of satellites (12) equally spaced and operating in a plurality of pairs of low Earth orbital planes (22); each of said pairs of low Earth orbital planes (22) including an inclined orbital plane (14) and a conjugate inclined orbital plane (15); said inclined orbital plane (14) and said conjugate inclined plane (15) each having an ascending node (40a) and a descending node (40b); said ascending node (40a) of said inclined orbital plane (14) being displaced by approximately 180 degrees right ascension from said ascending node (40a) of said conjugate inclined orbital plane (15); each of said plurality of satellites (12) being capable of communicating with at least one of said plurality of relay stations (18) and with at least one of said plurality of user terminals (20); said plurality of user terminals (20) being randomly distributed, primarily in portions of the Earth (E) which are inhabited; said plurality of relay stations (18) being distributed at locations on the Earth (E) which maximize coverage for communicating and minimize time to forward messages and data between any two of said plurality of user terminals (20); and said relay stations (18) being capable of communicating with each other through a satellite link and a public switched telephone network (51). 48. The satellite communications apparatus as claimed in Claim 47, in which said constellation (10) of satellites (12) includes forty-eight satellites (12) operating at approximately 950 km altitude; said plurality of pairs of low Earth orbital planes (22) includes eight of said inclined orbital planes (14, 15), six of said satellites (12) operating in each of said inclined orbital planes (14, 15); and said ascending node (40a) of said inclined orbital planes (14, 15) occur at right ascension angles of approximately 0, 45, 90, 135, 180, 225, 270 and 315 degrees respectively.

Inventors: BAYER DAVID A, GOLDMAN ERIK J, PETERS ARTHUR K, SMITH STEVEN W, STUART JAMES R, STURZA MARK A, VILLALVAZO JOSE MANUEL, BAYER, DAVID, A., GOLDMAN, ERIK, J., PETERS, ARTHUR, K., SMITH, STEVEN, W., STUART, JAMES, R., STURZA, MARK, A., VILLALVAZO, JOSE MANUEL
Applicants: LEO ONE IP L L C, LEO ONE IP, L.L.C.
Application year: 1995
Main classification: H04B7
IPC codes: H04B7