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AHeroReborn

why do relay satellites go in a geosynchronous orbit?

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If you put them in the same delta formation, but in a lower orbit, they would rotate in unison, ensuring you still have a connection without wasting fuel to get to geosync.

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I feel the need to fuel the fire here...

Why are you hung up on circular orbits? Highly elliptical orbits in a clover configuration gives more robust relay networks over time due to redundancy and the biasing of probabilistic locations.

2 Polar orbits 90° out of phase beyond Minmus also give >99% coverage to low inclination orbits.

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