Systems and methods for satellite movement

1. A satellite comprising:

a plurality of thrusters disposed about the satellite, each of the plurality of thrusters having a minimum thruster firing time; and

a control circuit connected to the plurality of thrusters, the control circuit configured to:

identify violations of the minimum thruster firing time in a non-compliant thruster firing pattern selected to achieve a specified movement, each violation identified by a thruster firing time that is less than the minimum thruster firing time,

generate a plurality of compliant thruster firing patterns by replacing each of the violations of the non-compliant thruster firing pattern with zero and the minimum thruster firing time in different combinations,

select a compliant thruster firing pattern from the plurality of compliant thruster firing patterns to produce a satellite movement that is within a predetermined range of the specified movement, and

cause the plurality of thrusters to fire according to the selected compliant thruster firing pattern.

2. The satellite of claim 1 wherein the plurality of thrusters comprises twelve thrusters.

3. The satellite of claim 1 wherein the plurality of thrusters are arranged to generate linear movement along three dimensions and generate rotational movement about three axes.

4. The satellite of claim 1 wherein the control circuit is further configured to select the non-compliant thruster firing pattern from a plurality of thruster firing solutions, each thruster firing solution comprising a thruster firing pattern, to achieve the specified movement, the non-compliant thruster firing pattern having lower total thruster firing time than all other thruster firing solutions of the plurality of thruster firing solutions.

5. The satellite of claim 4 wherein the control circuit is further configured to calculate the plurality of thruster firing solutions from a matrix that is based on mass and location of satellite components and on locations and orientations of the plurality of thrusters.

6. The satellite of claim 5 wherein the control circuit is further configured to receive a command that specifies the specified movement as velocity in three dimensions and rotational velocity about three axes.

7. The satellite of claim 6 wherein the control circuit is configured to receive a plurality of commands, each command corresponding to a time interval, and for each of the plurality of commands, calculate a plurality of thruster firing solutions, select a thruster firing solution having lower total thruster firing time than any other thruster firing solution of the plurality of thruster firing solutions, identify violations of the minimum thruster firing time in non-compliant thruster firing patterns, generate a plurality of compliant thruster firing patterns by replacing each of the violations of the non-compliant thruster firing patterns with zero and the minimum thruster firing time in different combinations, select a compliant thruster firing pattern from the plurality of compliant thruster firing patterns to produce a satellite movement that is within a predetermined range of the specified movement, and cause the plurality of thrusters to fire according to the selected compliant thruster firing pattern.

8. The satellite of claim 7 wherein the time interval is less than a predetermined period.

9. The satellite of claim 8 wherein the minimum thruster firing time is a predetermined fraction of the predetermined period.

10. A method of moving a satellite, comprising:

identifying one or more violations of a minimum thruster firing time in a thruster firing pattern selected to achieve a specified movement of a satellite, each violation identified by an individual thruster firing time that is less than the minimum thruster firing time;

generating a plurality of compliant thruster firing patterns by replacing each of the one or more violations in the thruster firing pattern with zero and the minimum thruster firing time in different combinations;

selecting a compliant thruster firing pattern from the plurality of compliant thruster firing patterns to produce a movement that is within a predetermined range of the specified movement; and

firing a plurality of thrusters of the satellite according to the selected compliant thruster firing pattern.

11. The method of claim 10 further comprising receiving a command including the specified movement, the specified movement including linear movement along three axes and rotational movement about the three axes.

12. The method of claim 11 further comprising calculating a plurality of thruster firing solutions to achieve the specified movement and selecting a thruster firing solution having less combined thruster firing time than all other thruster firing solutions of the plurality of thruster firing solutions as the thruster firing pattern.

13. The method of claim 12 wherein the command is one of a plurality of received commands, each received command corresponding to a time interval, and wherein calculating the plurality of thruster firing solutions, selecting the thruster firing pattern, identifying one or more violations of the minimum thruster firing time, generating the plurality of compliant thruster firing patterns, selecting the compliant thruster firing pattern, and firing the plurality of thrusters according to the selected compliant thruster firing pattern is performed for each of the plurality of received commands.

14. The method of claim 13 wherein the time interval is a predetermined period P such that selecting a compliant thruster firing pattern and firing the plurality of thrusters according to the selected compliant thruster firing pattern occurs at a frequency of 1/P.

15. A satellite movement control circuit comprising:

an identifier circuit configured to identify violations of a minimum thruster firing time in a non-compliant thruster firing pattern selected to achieve a specified movement of a satellite, each violation identified by an individual thruster firing time that is less than the minimum thruster firing time;

a generator circuit configured to generate a plurality of compliant thruster firing patterns by replacing each of the violations of the non-compliant thruster firing pattern with zero and the minimum thruster firing time in different combinations; and

a selector circuit configured to select a compliant thruster firing pattern from the plurality of compliant thruster firing patterns to produce a satellite movement that is within a predetermined range of the specified movement.

16. The satellite movement control circuit of claim 15 further comprising a receiver circuit configured to receive a command that includes the specified movement as velocity in three dimensions and rotational velocity about three axes.

17. The satellite movement control circuit of claim 16 further comprising a solver circuit configured to generate a plurality of thruster firing solutions to achieve the specified movement.

18. The satellite movement control circuit of claim 17 further comprising an additional selector circuit configured to select one of the thruster firing solutions generated by the solver circuit as a thruster firing pattern for the identifier circuit.

19. The satellite movement control circuit of claim 15 wherein the satellite movement control circuit is located in a satellite and is connected to a plurality of thrusters in the satellite.

20. The satellite movement control circuit of claim 15 wherein the minimum thruster firing time is less than twenty milliseconds and the selector circuit is configured to select a compliant thruster firing pattern more frequently than once every two hundred milliseconds.