## 3 Intelligent Integrated Navigation Q-Learning FEKF Algorithm
### Design of the \(Q\)-Learning-Based FKF for Intelligent Integrated Navigation
It provides theoretical and technical support for the interpretability of the multistage, intelligent, and highly accurate integrated navigation of the SSBE. [PERSON] put forward the algorithm, carried out the simulation and experiment, and prepared this original manuscript; [PERSON], [PERSON] and [PERSON] pointed out the research directions, gave theoretical guidance, and revised the manuscript; [PERSON], [PERSON], [PERSON] and [PERSON] revised and checked the manuscript. The authors would like to thank the reviewers and the editor for their comments and constructive suggestions that helped to improve the paper significantly. All authors have read and agreed to the published version of the manuscript. This research was funded by the National Natural Science Foundation Project, China (grant number 12150007) and the Guangdong Major Project of Basic and Applied Basic Research, China (grant number 2019B030302001). Data Availability Statement: The data generated in this study are not publicly available due to [their use in an ongoing study by the authors] but can be made available from the corresponding author upon reasonable request. The authors would like to thank [PERSON], [PERSON], [PERSON], and [PERSON] of our research team for their valuable help. The authors declare no conflicts of interest. ## Abbreviations

SSBE Solar System Boundary Exploration

FEKF Federated Extended Kalman Filter

QLFEKF Federated Extended Kalman Filter Based on \(Q\)-learning

PVSE Position and Velocity State Estimation

VLBI Very Long Baseline Interferometry

TT&C Tracking Telemetry and Command

XNAV X-ray Pulsar Navigation

TOA Time-of-Arrival

SSB Solar System Barycenter

TDOA Time Difference of Arrival

EKF Extended Kalman Filter

RL Reinforcement Learning

LOS Line of Sight

PA Probe Agent

RMSE Root Mean Squared Error

STD/XP-QLFEKF X-ray Pulsar/Solar and Target Planetary Doppler Velocity Measurement Based

on the \(Q\)-learning Federation EKF

STD/XP-EKF X-ray Pulsar/Solar and Target Planetary Doppler Velocity Measurement Based

on EKF

STD/XP-FEKF X-ray Pulsar/Solar and Target Planetary Doppler Velocity Measurement Based

on Federated EKF

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