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The absolute minimum number is for momentary complete cover is 4 in a triangular prism shape, but these will not stay in the right positions as they are not in a geostationary orbit.

3 in geostationary orbit will give very bad and failing coverage at the poles and at the outer edge of their footprint

6, 3 in polar orbit and 3 in geostationary orbit will help, but for a practical coverage 4 in geostationary orbit and 4 in polar orbit will be more practical

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