Abstract: Ground-based microgravity simulation constitutes a core element in the research and development of planetary rovers. Nevertheless, prevailing simulation technologies exhibit notable drawbacks, such as constrained experimental space and inadequate compensation precision, which directly affect the validity of tests on the complex motion performance of planetary rovers. Aiming at this problem, this paper puts forward an electromagnetic levitation microgravity compensation scheme based on Halbach array permanent magnets. Through multi-dimensional comparison and demonstration of mainstream magnetic levitation technical paths, the electromagnetic repulsive levitation with permanent magnets is determined as the core technical route. In the research, the modular design of the overall system architecture is completed, the mechanical models under multiple working conditions are established and analyzed, the arrangement structure of permanent magnets is optimized, and the magnetic field distribution characteristics and dynamic response laws are explored. Simulation and scaled experimental verification show that the magnetic buoyancy of the system responds rapidly, which can effectively simulate the deep-space microgravity environment and meet the requirements of high-precision ground tests for the complex motion performance of planetary rovers, providing reliable technical support for the research and development of deep-space exploration equipment.