By "open and free", I assume you mean a channel that is not scrambled and subscription-only. Satellite channels are legally not distinct from signals sent via the tall stick on the hill: the stuff is protected by the same copyright law. This testimony to Congress, by the Register of Copyrights, restates the relevant law:
Section 106 of the Copyright Act grants certain exclusive rights to
the owner of a copyrighted work. 17 U.S.C. §106. Among these exclusive
rights are the right to make or authorize the making of copies of the
work, to distribute or authorize the distribution of the work and, in
the case of television broadcast programming and other audiovisual
works, the right to publicly perform or authorize the performance of
the copyrighted work. As a result, unless a compulsory license is
available, anybody who wishes to retransmit copyrighted broadcast
programming--whether over the Internet or by more established means of
transmission such as cable or satellite--may do so only by obtaining
the consent of the copyright owners.
There is compulsory licensing under the Satellite Home Viewer Act of 1988, which does not encompass internet retransmission of satellite signals (the current law is here and here): this basically allows satellite companies to rebroadcast ground broadcasts under certain conditions. The Register's testimony focuses on this issue, and she states "I believe that the section 111 license does not and should not apply to Internet transmissions". The law has not been changed since the testimony, so... it's doable – with permission of the copyright holder.