Abstract: In order to control and guide the lunar rover accurately with wheel-terrain contact angle and slip value estimated in real time under the condition of complex wheel-terrain interactions and kinematics constraints,the mathematical model of the lunar rover's visual navigation is analyzed firstly,and a kinematics equation concerning slip and contact angle is established.Then,a closed loop is formed with the drive and guidance systems,the data about motion path of the lunar rover's centroid is measured,and a method is presented to identify slip values and wheel-terrain contact angle with the help of the observer.The method can ensure accurate and safe motion of lunar rover,and increase control precision.Simulation and experimental results demonstrate the effectiveness and feasibility of the method.