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Model-Based Software Engineering for an Optical Navigation System for Spacecraft

Franz, Tobias and Lüdtke, Daniel and Maibaum, Olaf and Gerndt, Andreas (2016) Model-Based Software Engineering for an Optical Navigation System for Spacecraft. In: Deutscher Luft-und Raumfahrtkongress. Deutsche Gesellschaft für Luft- und Raumfahrt - Lilienthal-Oberth e.V.. Deutscher Luft-und Raumfahrtkongress, 13.-15. Sep. 2016, Braunschweig.

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Official URL: http://publikationen.dglr.de/?tx_dglrpublications_pi1%5bdocument_id%5d=420128

Abstract

The project ATON (Autonomous Terrain-based Optical Navigation) at the German Aerospace Center (DLR) is developing an optical navigation system for future landing missions on celestial bodies such as the Moon or asteroids. Image data obtained by optical sensors can be used for autonomous determination of the spacecraft’s position and attitude. Camera-in-the-loop experiments in the TRON (Testbed for Robotic Optical Navigation) laboratory and flight campaigns with unmanned aerial vehicle (UAV) are performed to gather flight data for further development and to test the system in a closed-loop scenario. The software modules are executed in the C++ Tasking Framework that provides the means to concurrently run the modules in separated tasks, send messages between tasks, and schedule task execution based on events. Since the project is developed in collaboration with several institutes in different domains at DLR, clearly defined and well-documented interfaces are necessary. Preventing misconceptions caused by differences between various development philosophies and standards turned out to be challenging. After the first development cycles with manual Interface Control Documents (ICD) and manual implementation of the complex interactions between modules, we switched to a model-based approach. The ATON model covers a graphical description of the modules, their parameters and communication patterns. Type and consistency checks on this formal level help to reduce errors in the system. The model enables the generation of interfaces and unified data types as well as their documentation. Furthermore, the C++ code for the exchange of data between the modules and the scheduling of the software tasks is created automatically. With this approach, changing the data flow in the system or adding additional components (e.g. a second camera) have become trivial.

Item URL in elib:https://elib.dlr.de/109277/
Document Type:Conference or Workshop Item (Speech)
Title:Model-Based Software Engineering for an Optical Navigation System for Spacecraft
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Franz, Tobiastobias.franz (at) dlr.dehttps://orcid.org/0000-0003-1412-9625
Lüdtke, DanielDaniel.Luedtke (at) dlr.dehttps://orcid.org/0000-0002-6758-1562
Maibaum, Olafolaf.maibaum (at) dlr.deUNSPECIFIED
Gerndt, Andreasandreas.gerndt (at) dlr.deUNSPECIFIED
Date:2016
Journal or Publication Title:Deutscher Luft-und Raumfahrtkongress
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:Deutsche Gesellschaft für Luft- und Raumfahrt - Lilienthal-Oberth e.V.
Status:Published
Keywords:Model-based Software Development, Code generation, Modeling, Embedded Systems, Real-time computing, Systems Engineering, Software Engineering, Software Development, UML, SysML
Event Title:Deutscher Luft-und Raumfahrtkongress
Event Location:Braunschweig
Event Type:national Conference
Event Dates:13.-15. Sep. 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt ATON
Location: Braunschweig
Institutes and Institutions:Institut of Simulation and Software Technology > Software for Space Systems and Interactive Visualisation
Institut of Simulation and Software Technology
Deposited By: Franz, Tobias
Deposited On:08 Dec 2016 16:21
Last Modified:27 Mar 2017 10:21

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