The project Europa-Explorer is a pilot survey for future missions to Jupiter's moon Europa. It focuses on the aspect of navigation of robotic systems on and especially under the ice-shield of Europa. Below the surface an ocean comprised of liquid water is expected. After penetration of the ice-shield an exploration can be conducted. A possible mission scenario is drafted, which covers all aspects of an exploration from the time of landing until the transmission of the survey results. In order to demonstrate the feasibility of this scenario, an experimental test platform will be constructed, which is able to be used in an analog mission at a suitable test site on earth. The results of this research can be used for planning purposes of real missions to Europa.