Abstract: A hardware-in-the-loop and vision-in-the-loop test-bed for the testing of the lunar rover guide navigation control (GNC) subsystem was introduced. The composition of the test-bed and its dataflow were delicately designed. Then the vision-in-the-loop concept was designed. To overcome the problem of matching between the hazard-camera's focus and the images' distortion parameters, the distortion computation on the edge of the image pixels was ignored. Furthermore, to fulfill the closed-loop testing, the stereo vision function was accomplished by using multiple processes that made the images rapidly generated and the cameras' position and attitude parameters were supplied from rover's dynamics. Many testing instances can be constructed by using this test-bed. That will improve the effectiveness and coverage of subsystem testing. The CE-3 lunar rover has been working on the moon flawlessly, which implicates that the test-bed is very effective for the subsystem's grounding test.

Key words: lunar rover, hardware-in-loop simulation, vision-in-loop, GNC