According　to　the　lunar　exploration　mission　requirements,　this　paper　proposes　a　new　long-range　autonomous　navigation　method　for　lunar　rovers.　The　method　establishes　the　equation　for　the　attitude,　velocity　and　position　error　of　an　inertia　navigation　system　in　the　lunar　environment　based　on　the　theories　of　inertial　navigation　and　astronomy,　and　then　constracts　the　observation　model　based　on　celestial　triangle　expressions　and　velocity　error.　Because　the　system　equation　and　the　observation　model　are　linear,　the　Kalman　filter　is　used　to　implement　the　optimization　estimation　in　this　method.　The　simulation　results　demonstrate　that　this　method　has　the　higher　precision　of　position　and　head　angle,　and　show　its　reliability,　validity　and　feasibility.