Reliable Distributed Integrated Navigation Based on CI during Mars Entry

Table 2

Positions and velocities of beacons.

Beacons	Initial position (km)	Initial velocity (m/s)
Surface beacon 1	(3300, 420, 1350)	(0, 0, 0)
Surface beacon 2	(3290, 570, 755)	(0, 0, 0)
Orbiting beacon 1	(7855.7, -461.8, 749.82)	(66.2, 2206.4, -413)
Orbiting beacon 2	(3492.7, 3659.2, 215.11)	(-605.1, 97, 3232.8)