Dual-EKF-Based Real-Time Celestial Navigation for Lunar Rover

Table 2

Simulation parameters.

Beginning time	2011-01-01 00:00:00
Sampling interval	Δ𝑡=1𝑠
Initial origin	𝜆(𝑡0)=0^∘,𝐿(𝑡0)=0^∘
Initial velocity	𝑣𝐿=−0.1𝑚/(𝑠⋅𝑅),𝑣𝜆=0.1𝑚/(𝑠⋅𝑅)
Initial attitude	𝐪(𝑡0)=[^0001]^𝑇
Gyro biases	𝜷(𝑡0)=0.1[^111]^𝑇deg/hr
Initial covariance	𝑃^𝑝0=0.05^2deg^2
	𝑃^𝑉0=0.1^2(𝑚/𝑠)^2
	𝑃^𝛼0=0.1^2deg^2
	𝑃^𝛽0=0.2^2(deg/hr)^2
Gyro noise (𝐐𝑠)	𝜎𝑔𝑣=√10×10^−7rad/s^1/2
	𝜎𝑔𝑢=√10×10^−10rad/s^3/2
CV model (𝐐𝑝)	𝜎𝐿=𝜎𝐿=0.0001𝑚/(𝑠⋅𝑅)
	(𝑅: moon radius, the same below)
Sun sensor (𝐑)	1′(3𝜎𝑠)
Velocity sensor (𝐑𝑢)	𝜎𝑢=0.001𝑚/(𝑠⋅𝑅)