A Medium Earth Orbit (MEO) satellite constellation comprising two satellite subconstellations. Each of the two satellite subconstellations comprises three cross-linked satellites. The cross-linked satellites of both subconstellations lay within or near the equatorial plane, and follow a substantially circular orbit. Individual ones of the satellites within each respective subconstellation are offset from each of two adjacent satellites of at least one of the other subconstellations by a predetermined angle. Each of the satellite subconstellations relays communications between a terrestrial node and at least one mission platform in a manner that minimizes the number of satellite links necessary for relaying the communications. At least one satellite from each respective subconstellation is always within a view of the terrestrial node.