Planner test and analyzing system for deep space mission

As deep space exploration develops, onboard autonomy capability of the explorer becomes increasingly important, which requires the onboard planner to be more efficient. To improve the autonomy, a ground-based real-time fidelity simulation environment is needed, which enables rapid integration, testing and analyzing of the explorer planner. This paper describes the development of a Planner Test and Analysis System (PTAS) based on exploration mission. The planner modules under development include flight software, dynamic models, data interfaces, and monitoring module. Unified interface has been designed for application of planners with system level integration. The flight software includes attitude control subsystem, autonomous navigation, trajectory computing subsystem, and execution control subsystem. Planning result is analyzed by the flight software into executable commands on the embedded computer, and then transmitted to dynamic models on the multi-CPU computer, which makes PTAS a hardware-in-loop system. With some interfaces users could configure their own dynamic models. Simulation status about the explorer states and the process of mission simulation could be monitored, while planning and execution results could be analyzed quantitatively through a graphical interface, to show the planning efficiency and help users to improve the planner.