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Incident velocity and incident angle are important parameters for Martian aeolian research. In this paper we have established a model for investigating the saltation of sand in steady state, mainly considering the hopping of sand in the air and sand–bed collision process. The model proves to be able to predict sand motion in steady-state saltation on Earth well both qualitatively and quantitatively. Thus, it was applied to the study of sand saltation on Mars. With the help of the model, we found incident velocities and incident angles of Martian grains in steady-state saltation in cases of various wind strengths. Then, these predicted velocities and angles were compared with previous studies. Besides, the model also can show information on lift-off parameters of saltating particles. Therefore, it allows us to study other features in aeolian processes such as the saltation length and sand transport rate.