Table 1: Performance of celestial OD system under different sampling intervals.

Sampling intervalRMS (after convergence)Maximum (after convergence)
Position error/mVelocity error/m/sPosition error/mVelocity error/m/s

EKF203.3182110.196622532.9872720.486705
UKF161.3127230.162900357.5456000.407503
UPF159.7560790.160780354.5553590.402378

EKF271.6409530.287641703.0005810.613708
UKF245.9393020.219864593.8290980.563749
UPF245.2296830.219566593.8020480.563396

EKF934.2389390.9766412457.8951702.348656
UKF736.8762880.6999422322.2918962.302674
UPF735.1669320.6988082314.7612492.294924