Based on the study of passive articulated rover, a complete suspension kinematics model from wheel to inertial reference frame is presented, which uses D-H method of manipulator and presentation with Euler an-gle of pitch, roll and yaw. An improved contact model is adopted aimed at the loose and rough lunar terrain. U-sing this kinematics model and numerical continuous and discrete Newton' s method with iterative factor, the numerical method for estimation of kinematical parameters of articulated rovers on loose and rough terrain is con-strueted. To demonstrate this numerical method, an example of two torsion bar rocker-bogie lunar rover with eight wheels is presented. Simulation results show that the numerical method for estimation of kinematical pa-rameters of articulated rovers based on improved contact model can improve the precision of kinematical estima-tion on loose and rough terrain and decrease errors caused by contact models established based on general hy-pothesis.