A reusable, real-time spacecraft dynamics simulator

Abstract

Darts Shell Dshell is a multi-mission spacecraft simulator for development, test, and verication of ight software and hardware. Dshell is portable from desktop workstations to real-time, hardware-inthe-loop simulation environments.Dshell combines the Darts S/C exible multibody dynamics computational engine with libraries of hardware models (for actuators, sensors, motors and encoders) into an integrated simulation environment that can be easily congured and interfaced with ight software and hardware for various real-time and non realtime S/C simulation needs.Dshell is in use by several of NASA's interplanetary deep space missions including Galileo, Cassini, Mars Pathnder, and several projects in JPL's Flight System Testbed.

A navigation simulation system of lunar rover

“…Simulation can verify the physical models, the planning-path for robots, and so on. Thus, a large number of researches focus on simulation [1,2,12,13,14]. In [1], M. Lacagnina et al model and simulate a multibody mobile robot (M6) for volcanic environment explorations.…”

Wheel-Terrain Contact Modeling in the ROAMS Planetary Rover Simulation

“…To accelerate the development of ROAMS, ROAMS is built upon the existing DARTS & Dshell simulation framework [4] developed for spacecraft simulations. This strategy has allowed the ROAMS development effort to focus on the extensions needed for the surface rover domain.…”

A Lunar Surface Operations Simulator

“…Subsequent development around DARTS has led to supporting packages and simulators for a variety of space applications. These include Dshell [4], SimScape [8], ROAMS [5,6], and DSENDS [7]. This paper gives an overview of LSOS.…”