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

Table 3

Lunar rover motion.

Motion	Time (s)	Angular velocity (^∘/s)	Linear velocity (𝑚/(𝑠⋅𝑅))
(1) Static	1~100	0	0
(2) Rotation	101~200	𝜔𝑧=1	0
(3) Uniform motion	201~300	0	𝑣𝐿=0.2
			𝑣𝜆=−0.25
(4) Rotation and uniform motion	301~500	𝜔𝑧=1	𝑣𝐿=0.2
			𝑣𝜆=−0.25
(5) Static again	501~600	0	0