This paper proposes a method for designing a navigation constellation in the Cislunar space. Firstly, the dynamic characteristics of the Cislunar space were analyzed. Northern Halo orbits and southern Halo orbits around L1 and L2 libration point are designed. Then, based on the invariant manifold theory, the homoclinic low-energy transfer trajectories of L1 Halo orbits and the low-energy heteroclinic transfer trajectories between L1 and L2 Halo orbits are provided respectively. Afterthat, two types of special long-period orbits are attained for the constellation design. Based on the geometric dilution of precision and the minimum number of visible satellites, design requirements for two parts are given. Next, two navigation constellation configurations are proposed. Lastly, simulations are conducted on the performance of two constellation configurations with different number of satellites. Compared to constellations in one orbit, constellations that configured in two orbits require fewer satellites to meet the design requirements. In different lunar transfer orbits, the performance of the dual orbit constellation was validated.
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