It　is　essential　for　lunar　rover　to　know　its　position　in　order　to　fulfill　the　lunar　exploration　mission.　Therefore,　the　autonomous　navigation　and　control　method　of　lunar　rover　have　become　an　important　topic.　In　this　paper,　a　new　autonomous　navigation　method　for　lunar　rover　based　on　velocity　and　celestial　joint　observation　is　described.　The　principle　of　this　method　was　introduced,　and　the　system　equation　for　lunar　rover　based　on　the　theory　of　inertial　navigation　is　developed.　Then　the　joint　observation　model　based　on　celestial　and　velocity　is　presented.　Because　of　the　system　equation　and　observation　model　are　linear,　Kalman　filter　is　used　to　implement　optimization　estimation　in　this　method.　Finally,　the　simulation　of　this　method　was　finished.　The　simulation　results　demonstrated　the　validity　and　feasibility　of　this　method.