Table 2: Performance of geomagnetic OD system under different sampling intervals.

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

EKF591.2536280.6019461129.3655101.061735
UKF376.8943720.371566877.9094030.799659
UPF376.5168630.366538861.5139750.783449

EKF1481.6737521.3588672851.6601772.607626
UKF705.7654500.6482281325.5012671.276198
UPF705.1612630.6478761323.9761071.274585

EKF4343.7831624.30892114643.27574111.712547
UKF3904.8905443.63379810403.52854110.328902
UPF3904.7478923.63346010401.27913910.328554