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.

• 其次,对国内外行星漫游车视觉导航方案及相对位姿估计方法进行了比较,确定了基于卡尔曼滤波的单相机月球车位姿估计方法。