Research Article
An Improved EKF-SLAM for Mars Surface Exploration
Table 1
The simulation parameters.
| Name | Value |
| Sampling period | 0.2 s | The number of feature points in the map | 200 | The radius of the wheel | 0.3 m | The initial position of the rover | | The SD of RN of the accelerometer | | The SD of RN of the gyroscope | | The SD of RN of the measuring length | 1.0 m | The SD of RN of the measuring azimuth | 3° | The SD of RN of the control stick | 3° | Sensor frequency of the IMU | 20 Hz | Sensor frequency of the camera | 0.5 Hz | Simulation time | 400 s |
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Note: SD denotes standard deviation; RN denotes random noise.
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