| With the coming of a new hot round lunar exploration, the development of lunar rover has become one of today's top research targets. The wandering explorer such as lunar rover in order to improve its existent ability and complete lunar exploration mission successfully, they have to carry out independent operation and management. Among them, one of the key techniques is how to obtain the position and attitude of lunar rover.Usually, lunar rover is controlled by wireless with earth station. Because of the rotation and revolution of the earth and the moon, and the variety of opposite geography position between lunar rover and earth station brought by them, sometimes the lunar rover will be placed in district which is beyond control of the earth station, so the wandering explorer make use of the metering equipment that the itself takes to carry on control and navigation independently have already become an important development direction. Having synthesized the advanced technology of navigation in the world and its own characteristics of the lunar rover, we adopted visual navigation systems as lunar-rover's main work modes.First, introduced the important meaning of lunar rover, and the history of domestic and international lunar and mars rover, present research condition and develop trend.Second, draw a comparison of various estimate method of position and attitude, we adopt to make use of Kalman Filter to estimate position and attitude of lunar rover.Finally, according to dynamics model and optical principle, we have designed three different routes and build up this system's equation of state and observation, and make use of Kalman Filter to estimate lunar-rover's position, velocity and attitude. Simulation results indicate this method is simple, effective and suitable for high accuracy relative navigation of lunar rover. And according to simulation, obtain relations between measuring accuracy and the number, and provide a basis for the navigation system design.
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