The article deals with the task of optimization of orbital construction two-tier satellite constellation for continuous scanning of spherical layer of near-earth space. The satellites of the upper and the lower tiers satellites are supplied with multidirectional on-board equipment, and the spherical layer is divided into two zones of responsibility: the lower part of the layer is in the zone of responsibility (observation) of the upper tier, and the upper part of the layer is in the zone of responsibility (observation) of the lower tier. Each layer has the structure of J. Walker's delta-system. We use the minimum loss of the overall characteristic velocity as the optimization criterion, which necessary for the launch of satellites into orbit and the formation of the orbital structure. We also present the method for calculating the optimal orbital parameters of satellites of the lower and upper tiers at a fixed height of the spherical layer division into zones of responsibility and provide the algorithm for choosing the optimal height division of spherical layer into zones of responsibility for optimal satellite constellation of continuous scanning of spherical layer of near-Earth space. © 2020, Univelt Inc. All rights reserved.