<p>The autonomous navigation capabilities of the lunar roving vehicles (LRVs) rely on optical sensors. However, lunar dust emitted by the wheels diffuses around the rover and causing surface adsorption, threatening the performance of the optical detection system. This study delves into the distribution of dust emissions caused by rovers and their effects on the light transmission of optical sensors’lenses. A multiscale hierarchical discrete element method (MSH-DEM) incorporating ground experiments was adopted to analyze the dust emissions from LRVs, providing an assessment of dust deposition on sensor lenses under different driving conditions. Results show that the adsorption probability is close to 100% for particle sizes less than 10 µm or collision velocities less than 1 m/s. After the LRV traveled forward at a speed of 10 km/h for 1 h, the light transmission of the sun sensor decreases by 5.29%, and that of the star sensor decreases by 1.88%. The two stereo cameras are minimally affected by the dust deposition. Left-steering conditions will increase the dust deposition on the stereo cameras and star sensors located on the right side of the LRV. Uphill conditions have a mitigating effect on lunar dust deposition, while downhill increases the dust deposition on the star sensor. These findings are crucial for assessing the potential impact of lunar dust on optical sensors and the accuracy of autonomous navigation.</p>