Table 4: Performance of geomagnetic OD system under different noise distributions.

Noise distributionRMS (after convergence)Maximum (after convergence)
Position error/mVelocity error/m/sPosition error/mVelocity error/m/s

Normal
distribution
EKF1481.6737521.3588672851.6601772.607626
UKF705.7654500.6482281325.5012671.276198
UPF705.1612630.6478761323.9761071.274585

Student’s t distributionEKF1059.8748490.8288952900.8001783.184135
UKF670.3216610.6048351594.0606921.436411
UPF669.9590040.6045131593.0858091.436468

Uniform
distribution
EKF1246.5291301.2077284029.1877743.253167
UKF776.6224860.7675621985.8705771.781823
UPF776.5261440.7674521985.7046991.781594