A Jupiter angle measurement / relativity combined navigation method

Abstract

The present invention discloses a Jupiter angle measurement / relativity combined navigation method, including real-time acquisition of the position information of the target Jupiter probe; using the position and velocity of the target Jupiter probe as the system state quantity to construct a system state model based on orbital dynamics; correcting the starlight angular moment measurement model based on relativity and constructing a corrected starlight angular moment measurement model; correcting the star angular distance measurement model based on relativity and constructing a corrected star angular distance measurement model; and performing state estimation and error covariance estimation on the target Jupiter probe based on the SARSA‑UKF filtering algorithm to complete the combined navigation of the target Jupiter probe. The present invention also discloses a system for realizing the Jupiter angle measurement / relativity combined navigation method. The present invention performs relativistic correction on the angle measurement navigation using Jupiter as a near-celestial body, and combines the angle measurement navigation with the relativistic navigation, which not only realizes the combined navigation for the Jupiter probe, but also has higher reliability and better accuracy.

Description

Technical Field

[0001] The invention belongs to the field of navigation, and in particular relates to a Jupiter angle measurement / relativity combined navigation method and system. Background Art

[0002] With the development of economy and technology, people have never stopped exploring deep space. At this stage, the exploration of Jupiter in space has become the next important goal.

[0003] For deep space exploration missions, navigation accuracy is of decisive significance to the success of the mission, and ephemeris error is one of the important factors restricting navigation accuracy. In the exploration of Jupiter, the ephemeris position error of Jupiter in 2007 was about 100km; however, it is expected that by 2030, this error will reach about 200km. Therefore, suppressing the influence of Jupiter ephemeris error on navigation accuracy is of great significance to improving the navigation accuracy of Jupiter probes.

[0004] At present, the most mature autonomous astronomical navigation scheme is the astronomical angle measurement navigation scheme; the advantage of this scheme is that it has high instantaneous positioning accuracy and can provide the direction information of the probe relative to the target celestial body. However, the speed information of the probe obtained by this scheme is of low accuracy. Therefore, if the Jupiter probe uses astronomical angle measurement navigation to explore Jupiter, the accuracy of its navigation and detection will not be guaranteed. Summary of the invention

[0005] One of the purposes of the present invention is to provide a Jupiter angle measurement / relativity combined navigation method with high reliability and good accuracy.

[0006] A second object of the present invention is to provide a system for implementing the Jupiter angle measurement / relativity combined navigation method.

[0007] The Jupiter angle measurement / relativity combined navigation method provided by the present invention comprises the following steps:

[0008] S1. Obtain the position information of the target Jupiter probe in real time;

[0009] S2. Based on the position information obtained in step S1, the position and velocity of the target Jupiter probe are used as system state quantities to construct a system state model based on orbital dynamics;

[0010] S3. Based on the position information obtained in step S1, the starlight angular moment measurement model is corrected based on the theory of relativity, and a starlight angular moment measurement model corrected based on the relativistic effect is constructed;

[0011] S4. Based on the position information obtained in step S1, the star angular distance measurement model is corrected based on the theory of relativity, and a star angular distance measurement model corrected based on the relativistic effect is constructed;

[0012] S5. According to the model constructed in steps S2 to S4, based on the SARSA-UKF filtering algorithm, the state estimation and error covariance estimation of the target Jupiter probe are performed;

[0013] S6. According to the estimated value obtained in step S5, the integrated navigation of the target Jupiter probe is completed.

[0014] The step S1 specifically includes the following steps:

[0015] Obtain the position information of the target Jupiter probe;

[0016] The position information includes the position vector of the target Jupiter probe relative to Jupiter, the velocity vector of the target Jupiter probe relative to Jupiter, the direction vector of the target Jupiter probe relative to Jupiter, the direction vector of the target Jupiter probe relative to the background stars in the angle measurement navigation, the direction vector of the target Jupiter probe relative to the background stars in the relativistic navigation and the position vector of Jupiter relative to the sun.

[0017] The step S2 specifically includes the following steps:

[0018] The position and velocity of the target Jupiter probe are taken as the system state , expressed as In the formula is the position vector of the target Jupiter probe relative to Jupiter; is the velocity vector of the target Jupiter probe relative to Jupiter; T is the matrix transpose sign;

[0019] Construct the system state equation, expressed as In the formula for The derivative of for The derivative of is the gravitational constant of Jupiter; is the 2-norm of the vector; is the gravitational constant of the Sun; is the position vector of Jupiter relative to the Sun; is the system process noise, which is used to represent the process noise caused by various disturbances to the target Jupiter probe;

[0020] The system state equation is expressed as In the formula is the time t , for The derivative of is the nonlinear state transfer function of the system; is the time t , is the system process noise vector and .

[0021] The step S3 comprises the following steps:

[0022] The starlight angular moment is the angle between the viewing direction of the target Jupiter probe relative to the background stars and the viewing direction of the target Jupiter probe relative to Jupiter;

[0023] Based on the velocity vector of the target Jupiter probe relative to Jupiter, the velocity vector of Jupiter relative to the Sun, the velocity vector of the Sun relative to the Sun's mass center, the direction vector of the target Jupiter probe relative to the k-th star, and the direction vector of the target Jupiter probe relative to the direction of Jupiter, the apparent direction of the target Jupiter probe relative to the k-th background star is corrected according to the general theory of relativity and the special theory of relativity, and the apparent direction of the target Jupiter probe relative to Jupiter is corrected according to the special theory of relativity;

[0024] Taking the starlight angular moment as the measured quantity, a starlight angular moment measurement model based on the correction of relativistic effects is constructed.

[0025] The step S3 specifically includes the following steps:

[0026] According to the general theory of relativity and the special theory of relativity, the direction vector constituting the starlight angular moment is corrected using the following formula: In the formula is the direction vector of the target Jupiter probe relative to the kth background star; is the direction vector of the target Jupiter probe relative to the kth background star in a stationary state corrected according to general relativity; is the velocity vector of the target Jupiter probe relative to the Sun's mass center, and , is the velocity vector of Jupiter relative to the Sun, is the velocity vector of the sun relative to the sun's mass center; c is the speed of light; is a high-order term; is the corrected apparent direction of Jupiter relative to the target Jupiter probe; is the direction vector of the target probe relative to Jupiter without considering the relativistic effect;

[0027] The starlight angular distance is calculated based on the corrected visual direction of the target Jupiter probe relative to the background stars and the visual direction of the target Jupiter probe relative to Jupiter. for ;

[0028] Measuring the angular moment of starlight , ; Then the corrected starlight angular distance measurement model is established, expressed as In the formula A nonlinear continuous measurement function representing the angular distance of starlight; is the measurement noise of the starlight angular distance at time t.

[0029] The step S4 comprises the following steps:

[0030] According to the direction vector of the target Jupiter probe relative to each background star, considering the relativistic effect, the target Jupiter probe is relative to the first i background stars and j The direction vector of the background star is corrected;

[0031] According to the corrected direction vector, a stellar angular distance measurement model based on relativistic effect correction is constructed.

[0032] The step S4 specifically comprises the following steps:

[0033] Considering the relativistic effect, the following formula is used to calculate the relative position of the target Jupiter probe to the first i background stars and j The direction vector of the background star is corrected, and the star angular distance is obtained according to the corrected direction vector: In the formula is the corrected direction vector of the target Jupiter probe relative to the i-th background star; is the corrected direction vector of the target Jupiter probe relative to the jth background star; is the target Jupiter probe relative to the first i The direction vector of the background star; is the target Jupiter probe relative to the first j is the direction vector of the background star; c is the speed of light; is the direction vector of the i-th background star after correction by general relativity;

[0034] Measuring the angular distance of stars , ,in, For the stellar angular distance, a stellar angular distance measurement model based on relativity correction is constructed, which can be expressed as In the formula is a nonlinear continuous measurement function representing the angular distance of a star; is the measurement noise of the star angular distance at time t.

[0035] The step S5 specifically includes the following steps:

[0036] Initialize learning rate , Discount Factor and the probability value in the greedy function ;

[0037] Initialize the state set S; where the process noise covariance matrix in the unscented Kalman filter is and the measurement noise covariance matrix Combination of is a state contained in the state set S;

[0038] Initialize action set A; wherein, in state set S, the transitions between various states constitute action set A;

[0039] Initialize the Q table; in the Q table, each row represents a different state, each column represents the action that can be performed in the state, and the content of the table represents the reward value obtained by performing the corresponding action in the corresponding state;

[0040] According to the initialization state ,use Greedy algorithm, get the action to be performed in the current state ;

[0041] According to the model constructed in steps S2~S4, perform actions , and update the status ; In each filtering time step, the state of the TR unscented Kalman filter and the SA unscented Kalman filter is updated respectively to obtain a new state estimate and error value, thereby calculating the updated reward value for In the formula is the reward value before updating; is the deviation between the measured value and the observed value in the TR unscented Kalman filter; is the deviation between the measured value and the observed value in the SARSA unscented Kalman filter; is the deviation between the one-step prediction and the optimal estimate in the TR unscented Kalman filter; is the deviation between the one-step prediction and the optimal estimate in the SARSA unscented Kalman filter;

[0042] Repeat the above steps until the filtering is completed, and the state estimation and error covariance of the target Jupiter probe are estimated, thereby obtaining the navigation information of the target Jupiter probe.

[0043] The present invention also provides a system for implementing the Jupiter angle measurement / relativity combined navigation method, comprising a data acquisition module, a system state modeling module, a starlight angular moment measurement modeling module, a star angular distance measurement modeling module, an estimation module and a combined navigation module; the data acquisition module, the system state modeling module, the starlight angular moment measurement modeling module, the star angular distance measurement modeling module, the estimation module and the combined navigation module are connected in series in sequence; the data acquisition module is used to acquire the position information of the target Jupiter probe in real time, and upload the data information to the system state modeling module; the system state modeling module is used to construct a system state model based on orbital dynamics based on the received data information and the acquired position information, taking the position and speed of the target Jupiter probe as the system state quantity, and upload the data information to the starlight angular moment measurement modeling module; the starlight angular moment measurement modeling module is used to acquire the position information of the target Jupiter probe based on the received data information and the acquired position information, and upload the data information to the starlight angular moment measurement modeling module The starlight angular moment measurement model is corrected based on the obtained position information and the theory of relativity according to the data information received, a starlight angular moment measurement model is constructed based on the correction of the relativistic effect, and the data information is uploaded to the star angular distance measurement modeling module; the star angular distance measurement modeling module is used to correct the star angular distance measurement model based on the theory of relativity according to the received data information and the obtained position information, a star angular distance measurement model is constructed based on the correction of the relativistic effect, and the data information is uploaded to the estimation module; the estimation module is used to perform state estimation and error covariance estimation of the target Jupiter probe based on the SARSA-UKF filtering algorithm according to the received data information and the constructed model, and upload the data information to the integrated navigation module; the integrated navigation module is used to complete the integrated navigation of the target Jupiter probe according to the received data information and the obtained estimated values.

[0044] The Jupiter angle measurement / relativity combined navigation method and system provided by the present invention performs relativistic correction on the angle measurement navigation taking Jupiter as a near-celestial body, and combines the angle measurement navigation with the relativistic navigation, which not only realizes the combined navigation for Jupiter probes, but also has higher reliability and better accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 The figure is a schematic diagram of the method flow of the present invention.

[0046] Figure 2 Schematic diagram for comparing the error results of angle measurement navigation, relativistic navigation, angle measurement / relative combined navigation based on UKF and combined navigation of the present invention in the method embodiment of the present invention; wherein, Figure 2 (a) is a schematic diagram for comparing position error results. Figure 2 (b) is a schematic diagram of the comparison of velocity error results.

[0047] Figure 3 Schematic diagram of error comparison of combined navigation in the embodiment of the method of the present invention under two conditions with and without Jupiter ephemeris error; wherein, Figure 3 (a) is a schematic diagram for comparing position error results. Figure 3 (b) is a schematic diagram of the comparison of velocity error results.

[0048] Figure 4 Schematic diagram of the functional modules of the system of the present invention. DETAILED DESCRIPTION

[0049] like Figure 1 The method flow chart of the method of the present invention is shown as follows: The Jupiter angle measurement / relativity combined navigation method disclosed in the present invention comprises the following steps:

[0050] S1. Real-time acquisition of the position information of the target Jupiter probe; specifically including the following steps:

[0051] Obtain the position information of the target Jupiter probe;

[0052] The position information includes the position vector of the target Jupiter probe relative to Jupiter, the velocity vector of the target Jupiter probe relative to Jupiter, the direction vector of the target Jupiter probe relative to Jupiter, the direction vector of the target Jupiter probe relative to the background stars in the angle measurement navigation, the direction vector of the target Jupiter probe relative to the background stars in the relativistic navigation and the position vector of Jupiter relative to the sun.

[0053] S2. Based on the position information obtained in step S1, the position and velocity of the target Jupiter probe are used as system state quantities to construct a system state model based on orbital dynamics; specifically, the steps include:

[0054] The position and velocity of the target Jupiter probe are taken as the system state , expressed as In the formula is the position vector of the target Jupiter probe relative to Jupiter; is the velocity vector of the target Jupiter probe relative to Jupiter; T is the matrix transpose sign;

[0055] Construct the system state equation, expressed as In the formula for The derivative of for The derivative of is the gravitational constant of Jupiter; is the 2-norm of the vector; is the gravitational constant of the Sun; is the position vector of Jupiter relative to the Sun; is the system process noise, which is used to represent the process noise caused by various disturbances to the target Jupiter probe;

[0056] The system state equation is expressed as In the formula is the time t , for The derivative of is the nonlinear state transfer function of the system; is the time t , is the system process noise vector and .

[0057] S3. Based on the position information obtained in step S1, the starlight angular moment measurement model is corrected based on the theory of relativity, and a starlight angular moment measurement model corrected based on the relativistic effect is constructed; comprising the following steps:

[0058] The starlight angular moment is the angle between the viewing direction of the target Jupiter probe relative to the background stars and the viewing direction of the target Jupiter probe relative to Jupiter;

[0059] Based on the velocity vector of the target Jupiter probe relative to Jupiter, the velocity vector of Jupiter relative to the Sun, the velocity vector of the Sun relative to the Sun's mass center, the direction vector of the target Jupiter probe relative to the k-th star, and the direction vector of the target Jupiter probe relative to the direction of Jupiter, the apparent direction of the target Jupiter probe relative to the k-th background star is corrected according to the general theory of relativity and the special theory of relativity, and the apparent direction of the target Jupiter probe relative to Jupiter is corrected according to the special theory of relativity;

[0060] According to the corrected direction vector, a starlight angular moment measurement model is constructed.

[0061] The specific implementation includes the following steps:

[0062] According to the general theory of relativity and the special theory of relativity, the direction vector constituting the starlight angular moment is corrected using the following formula: In the formula is the direction vector of the target Jupiter probe relative to the kth background star; is the direction vector of the target Jupiter probe relative to the kth background star in a stationary state corrected according to general relativity; is the velocity vector of the target Jupiter probe relative to the Sun's mass center, and , is the velocity vector of Jupiter relative to the Sun, is the velocity vector of the sun relative to the sun's mass center; c is the speed of light; is a high-order term; is the corrected apparent direction of Jupiter relative to the target Jupiter probe; is the direction vector of the target probe relative to Jupiter without considering the relativistic effect;

[0063] The starlight angular distance is calculated based on the corrected visual direction of the target Jupiter probe relative to the background stars and the visual direction of the target Jupiter probe relative to Jupiter. for ;

[0064] Measuring the angular moment of starlight , ; Then the starlight angular distance measurement model based on the correction of relativistic effect is established, which is expressed as In the formula A nonlinear continuous measurement function representing the angular distance of starlight; is the measurement noise of the starlight angular distance at time t.

[0065] S4. Based on the position information obtained in step S1, the star angular distance measurement model is corrected based on the theory of relativity, and a star angular distance measurement model corrected based on the relativistic effect is constructed; comprising the following steps:

[0066] According to the direction vector of the target Jupiter probe relative to each background star, considering the relativistic effect, the target Jupiter probe is relative to the first i background stars and j The direction vector of the background star is corrected;

[0067] According to the corrected direction vector, a stellar angular distance measurement model based on relativistic effect correction is constructed.

[0068] The specific implementation includes the following steps:

[0069] Considering the relativistic effect, the following formula is used to calculate the relative position of the target Jupiter probe to the first i background stars and j The direction vector of the background star is corrected, and the star angular distance is obtained according to the corrected direction vector: In the formula is the corrected direction vector of the target Jupiter probe relative to the i-th background star; is the corrected direction vector of the target Jupiter probe relative to the jth background star; is the target Jupiter probe relative to the first i The direction vector of the background star; is the target Jupiter probe relative to the first j is the direction vector of the background star; c is the speed of light; is the direction vector of the i-th background star after correction by general relativity;

[0070] Measuring the angular distance of stars , ,in, For the stellar angular distance, a stellar angular distance measurement model based on relativity correction is constructed, which can be expressed as In the formula is a nonlinear continuous measurement function representing the angular distance of a star; is the measurement noise of the star angular distance at time t.

[0071] S5. According to the model constructed in steps S2 to S4, based on the SARSA-UKF filtering algorithm, the state estimation and error covariance estimation of the target Jupiter probe are performed; specifically, the steps include:

[0072] Initialize learning rate , Discount Factor and the probability value in the greedy function ;

[0073] Initialize the state set S; where the process noise covariance matrix in the unscented Kalman filter is and the measurement noise covariance matrix Combination of is a state contained in the state set S;

[0074] Initialize action set A; wherein, in state set S, the transitions between various states constitute action set A;

[0075] Initialize the Q table; in the Q table, each row represents a different state, each column represents the action that can be performed in the state, and the content of the table represents the reward value obtained by performing the corresponding action in the corresponding state;

[0076] In specific implementation, the Q table is shown in Table 1 below:

[0077] Table 1 Q represents the meaning table

[0078]

[0079] According to the initialization state ,use Greedy algorithm, get the action to be performed in the current state ;

[0080] According to the model constructed in steps S2~S4, perform actions , and update the status ; In each filtering time step, the state of the TR unscented Kalman filter and the SA unscented Kalman filter is updated respectively to obtain a new state estimate and error value, thereby calculating the updated reward value for In the formula is the reward value before updating; is the deviation between the measured value and the observed value in the TR unscented Kalman filter; is the deviation between the measured value and the observed value in the SARSA unscented Kalman filter; is the deviation between the one-step prediction and the optimal estimate in the TR unscented Kalman filter; is the deviation between the one-step prediction and the optimal estimate in the SARSA unscented Kalman filter;

[0081] Repeat the above steps until the filtering is completed, and the state estimation and error covariance of the target Jupiter probe are estimated, thereby obtaining the navigation information of the target Jupiter probe.

[0082] S6. According to the estimated value obtained in step S5, the integrated navigation of the target Jupiter probe is completed.

[0083] The effect of the method of the present invention is described below in conjunction with an embodiment:

[0084] This embodiment takes the New Horizons probe as an example. The ideal trajectory of the New Horizons probe is generated by the System Tool Kit (STK) software. Its initial orbital parameters are shown in Table 2:

[0085] Table 2 Schematic table of initial orbital parameters

[0086]

[0087] In the simulation, the corresponding filter parameters are shown in Table 3:

[0088] Table 3 Filter parameter diagram

[0089]

[0090] In SARSA-UKF, the design value of the noise covariance matrix is and The state set is composed of the noise covariance matrix. The action set is divided into five actions: up, down, left, right, and unchanged, corresponding to the state transition; the actions that can be performed in the state are determined according to the state in different positions.

[0091] According to the parameters provided in Table 2 and Table 3, four navigation methods, namely angle measurement navigation, relativistic navigation, UKF-based angle measurement / relativity combined navigation, and SARSA-UKF-based angle measurement / relativity combined navigation, are simulated and compared. The simulation results are shown in Table 4:

[0092] Table 4 Navigation error diagram

[0093]

[0094] According to Table 4, it can be seen that the solution of the present invention is superior to other navigation methods in terms of position and velocity accuracy: its position error is only 3.82 km, and its velocity error is 0.098 m / s. Compared with the navigation scheme using a single or conventional combination, the method based on SARSA-UKF can make more full use of the information contained in angle measurement and relativity, and adaptively optimize the filtering process through the SARSA algorithm, ultimately achieving higher accuracy and reliability. This shows that the solution of the present invention provides a better technical path for high-precision autonomous navigation.

[0095] In addition, the scheme of the present invention is simulated under two conditions: with Jupiter ephemeris error and without Jupiter ephemeris error. The simulation results are shown in Table 5:

[0096] Table 5 Schematic diagram of the impact of Jupiter ephemeris error on integrated navigation accuracy

[0097]

[0098] It can be seen from Table 5 that the results of the combined navigation with and without the Jupiter ephemeris error are almost the same, which shows that the combined navigation method proposed in the present invention is little affected by the Jupiter ephemeris error and can provide high-precision navigation information.

[0099] Figure 2 It is the position error and velocity error of the Jupiter probe at each moment under four different navigation modes. It can be seen from the figure that the position error and velocity error of the combined navigation scheme of the present invention remain stable and convergent throughout the whole section, and the navigation accuracy is better than that of angle measurement navigation and relativistic navigation. It shows that the combined navigation scheme of the present invention can suppress the influence of the relativistic effect and Jupiter ephemeris error on navigation, and improve the navigation accuracy.

[0100] The scheme of the present invention realizes high-precision autonomous navigation of deep space probes; the scheme of the present invention corrects the starlight angular distance measurement model taking into account the relativistic effect, thereby obtaining the actual direction information of the probe relative to Jupiter, and simultaneously obtains the velocity information of the probe through relativistic navigation, thereby suppressing the influence of the relativistic effect on navigation accuracy and improving navigation accuracy; the astronomical angle measurement navigation in the scheme of the present invention uses Jupiter as a near-celestial body, and the information of the probe obtained is the result directly relative to Jupiter and is not affected by the Jupiter ephemeris error; the relativistic navigation is mainly affected by the Jupiter ephemeris velocity error, but the Jupiter ephemeris velocity error is relatively small and can be ignored; therefore, the angle measurement / relativity combined navigation method of the Jupiter probe is almost not affected by the Jupiter ephemeris error, and the navigation accuracy is relatively high.

[0101] like Figure 4The functional module schematic diagram of the system of the present invention is shown as follows: the system disclosed in the present invention for realizing the Jupiter angle measurement / relativity combined navigation method comprises a data acquisition module, a system state modeling module, a starlight angular moment measurement modeling module, a star angular distance measurement modeling module, an estimation module and a combined navigation module; the data acquisition module, the system state modeling module, the starlight angular moment measurement modeling module, the star angular distance measurement modeling module, the estimation module and the combined navigation module are connected in series in sequence; the data acquisition module is used to obtain the position information of the target Jupiter probe in real time, and upload the data information to the system state modeling module; the system state modeling module is used to construct a system state model based on orbital dynamics based on the received data information and the acquired position information, taking the position and speed of the target Jupiter probe as the system state quantity, and upload the data information to the starlight angular moment measurement modeling module; the starlight angular moment measurement modeling module The module is used to correct the starlight angular moment measurement model based on relativity according to the received data information, the acquired position information, and construct a starlight angular moment measurement model corrected based on the relativistic effect, and upload the data information to the star angular distance measurement modeling module; the star angular distance measurement modeling module is used to correct the star angular distance measurement model based on relativity according to the received data information, the acquired position information, and construct a star angular distance measurement model corrected based on the relativistic effect, and upload the data information to the estimation module; the estimation module is used to perform state estimation and error covariance estimation of the target Jupiter probe based on the received data information and the constructed model and the SARSA-UKF filtering algorithm, and upload the data information to the combined navigation module; the combined navigation module is used to complete the combined navigation of the target Jupiter probe based on the received data information and the obtained estimated value.

Claims

1. A Jupiter angle measurement / relativity combined navigation method, characterized in that The steps include: S1. Obtain the position information of the target Jupiter probe in real time; S2. Based on the position information obtained in step S1, the position and velocity of the target Jupiter probe are used as system state quantities to construct a system state model based on orbital dynamics; S3. Based on the position information obtained in step S1, the starlight angular distance measurement model is corrected based on the theory of relativity, and a starlight angular distance measurement model corrected based on the relativistic effect is constructed; S4. Based on the position information obtained in step S1, the star angular distance measurement model is corrected based on the theory of relativity, and a star angular distance measurement model corrected based on the relativistic effect is constructed; S5. According to the model constructed in steps S2 to S4, based on the SARSA-UKF filtering algorithm, the state estimation and error covariance estimation of the target Jupiter probe are performed; specifically, the steps include: Initialize learning rate , Discount Factor and the probability value in the greedy function ; Initialize the state set S; where the process noise covariance matrix in the unscented Kalman filter is and the measurement noise covariance matrix Combination of is a state contained in the state set S; Initialize action set A; wherein, in state set S, the transitions between various states constitute action set A; Initialize the Q table; in the Q table, each row represents a different state, each column represents the action that can be performed in the state, and the content of the table represents the reward value obtained by performing the corresponding action in the corresponding state; According to the initialization state ,use Greedy algorithm, get the action to be performed in the current state ; According to the model constructed in steps S2~S4, perform actions , and update the status ; In each filtering time step, the state of the TR unscented Kalman filter and the SA unscented Kalman filter is updated respectively to obtain a new state estimate and error value, thereby calculating the updated reward value for In the formula is the reward value before updating; is the deviation between the measured value and the observed value in the TR unscented Kalman filter; is the deviation between the measured value and the observed value in the SARSA unscented Kalman filter; is the deviation between the one-step prediction and the optimal estimate in the TR unscented Kalman filter; is the deviation between the one-step prediction and the optimal estimate in the SARSA unscented Kalman filter; Repeat the above steps until the filtering is completed, and estimate the state estimation and error covariance of the target Jupiter probe, thereby obtaining the navigation information of the target Jupiter probe; S6. According to the estimated value obtained in step S5, the integrated navigation of the target Jupiter probe is completed.

2. The Jupiter angle measurement / relativity combined navigation method according to claim 1, characterized in that The step S1 specifically includes the following steps: Obtain the position information of the target Jupiter probe; The position information includes the position vector of the target Jupiter probe relative to Jupiter, the velocity vector of the target Jupiter probe relative to Jupiter, the direction vector of the target Jupiter probe relative to Jupiter, the direction vector of the target Jupiter probe relative to the background stars in the angle measurement navigation, the direction vector of the target Jupiter probe relative to the background stars in the relativistic navigation and the position vector of Jupiter relative to the sun.

3. The Jupiter angle measurement / relativity combined navigation method according to claim 2, characterized in that The step S2 specifically includes the following steps: The position and velocity of the target Jupiter probe are taken as the system state , expressed as In the formula is the position vector of the target Jupiter probe relative to Jupiter; is the velocity vector of the target Jupiter probe relative to Jupiter; T is the matrix transpose symbol; Construct the system state equation, expressed as In the formula for The derivative of for The derivative of is the gravitational constant of Jupiter; is the 2-norm of the vector; is the gravitational constant of the Sun; is the position vector of Jupiter relative to the Sun; is the system process noise, which is used to represent the process noise caused by various disturbances to the target Jupiter probe; The system state equation is expressed as In the formula is the time t , for The derivative of is the nonlinear state transfer function of the system; is the time t , is the system process noise vector and .

4. The Jupiter angle measurement / relativity combined navigation method according to claim 3, characterized in that The step S3 comprises the following steps: The starlight angular distance is the angle between the visual direction of the target Jupiter probe relative to the background stars and the visual direction of the target Jupiter probe relative to Jupiter; Based on the velocity vector of the target Jupiter probe relative to Jupiter, the velocity vector of Jupiter relative to the Sun, the velocity vector of the Sun relative to the Sun's mass center, the direction vector of the target Jupiter probe relative to the k-th star, and the direction vector of the target Jupiter probe relative to the direction of Jupiter, the apparent direction of the target Jupiter probe relative to the k-th background star is corrected according to the general theory of relativity and the special theory of relativity, and the apparent direction of the target Jupiter probe relative to Jupiter is corrected according to the special theory of relativity; Taking the starlight angular distance as the quantitative measurement, a starlight angular distance measurement model based on the correction of relativistic effects is constructed.

5. The Jupiter angle measurement / relativity combined navigation method according to claim 4, characterized in that The step S3 specifically includes the following steps: According to the general theory of relativity and the special theory of relativity, the direction vector constituting the angular distance of starlight is corrected using the following formula: In the formula is the direction vector of the target Jupiter probe relative to the kth background star; is the direction vector of the target Jupiter probe relative to the kth background star in a stationary state corrected according to general relativity; is the velocity vector of the target Jupiter probe relative to the Sun's mass center, and , is the velocity vector of Jupiter relative to the Sun, is the velocity vector of the sun relative to the sun's mass center; c is the speed of light; is a high-order term; is the corrected apparent direction of Jupiter relative to the target Jupiter probe; is the direction vector of the target probe relative to Jupiter without considering the relativistic effect; The starlight angular distance is calculated based on the corrected visual direction of the target Jupiter probe relative to the background stars and the visual direction of the target Jupiter probe relative to Jupiter. for ; Measuring the angular distance of starlight , ; Then the starlight angular distance measurement model is established, expressed as In the formula A nonlinear continuous measurement function representing the angular distance of starlight; is the measurement noise of the starlight angular distance at time t.

6. The Jupiter angle measurement / relativity combined navigation method according to claim 5, characterized in that The step S4 comprises the following steps: According to the direction vector of the target Jupiter probe relative to each background star, considering the relativistic effect, the target Jupiter probe is relative to the first i background stars and j The direction vector of the background star is corrected; According to the corrected direction vector, a stellar angular distance measurement model based on relativistic effect correction is constructed.

7. The Jupiter angle measurement / relativity combined navigation method according to claim 6, characterized in that The step S4 specifically comprises the following steps: Considering the relativistic effect, the following formula is used to calculate the relative position of the target Jupiter probe to the first i background stars and j The direction vector of the background star is corrected, and the star angular distance is obtained according to the corrected direction vector: In the formula is the corrected direction vector of the target Jupiter probe relative to the i-th background star; is the corrected direction vector of the target Jupiter probe relative to the jth background star; is the target Jupiter probe relative to the first i The direction vector of the background star; is the target Jupiter probe relative to the first j is the direction vector of the background star; c is the speed of light; is the direction vector of the i-th background star after correction by general relativity; Measuring the angular distance of stars , ,in, For the stellar angular distance, a stellar angular distance measurement model based on relativity correction is constructed, which can be expressed as In the formula is a nonlinear continuous measurement function representing the angular distance of a star; is the measurement noise of the star angular distance at time t.

8. A system for implementing the Jupiter angle measurement / relativity integrated navigation method according to any one of claims 1 to 7, characterized in that It includes a data acquisition module, a system state modeling module, a starlight angular distance measurement modeling module, a star angular distance measurement modeling module, an estimation module and an integrated navigation module; the data acquisition module, the system state modeling module, the starlight angular distance measurement modeling module, the star angular distance measurement modeling module, the estimation module and the integrated navigation module are connected in series in sequence; the data acquisition module is used to obtain the position information of the target Jupiter probe in real time, and upload the data information to the system state modeling module; The system state modeling module is used to construct a system state model based on orbital dynamics based on the received data information, based on the acquired position information, and taking the position and speed of the target Jupiter probe as the system state quantity, and upload the data information to the starlight angular distance measurement modeling module; The starlight angular distance measurement modeling module is used to correct the starlight angular distance measurement model based on the received data information, the acquired position information and the theory of relativity, to construct a starlight angular distance measurement model corrected based on the relativistic effect, and upload the data information to the starlight angular distance measurement modeling module; the starlight angular distance measurement modeling module is used to correct the starlight angular distance measurement model based on the received data information, the acquired position information and the theory of relativity, to construct a starlight angular distance measurement model corrected based on the relativistic effect, and upload the data information to the estimation module; The estimation module is used to perform state estimation and error covariance estimation of the target Jupiter probe according to the received data information, the constructed model and the SARSA-UKF filtering algorithm, and upload the data information to the integrated navigation module; The integrated navigation module is used to complete the integrated navigation of the target Jupiter probe according to the received data information and the obtained estimated values.

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