This　paper　presents　a　method　to　solve　inverse　kinematics　of　lunar　rover.　It　estimates　a　six-wheels-rocker-bogie　lunar　rover＇s　attitude　and　configuration　in　real　time　which　depend　on　available　digital　terrain　map,　rover　position　and　rover　yaw.　We　analyzed　kinematics　model　of　rocker-bogie　rover.　Then　we　applied　fuzzy　logic　and　virtual　sensors　to　solve　inverse　kinematics　of　rocker-bogie　rover.　In　addition,　simulation　experiment　supports　the　effectiveness　of　this　method　in　3D　virtual　environment.　It　can　solve　the　problem　within　1/40　s　and　at　the　same　time　ensure　distances　between　lunar　rover＇　s　wheels　and　ground　are　less　than　0.02　m.