Table 5: Comparison of computation cost.

Filter
method
Theoretical value of computation costSimulation value of computation cost
is full matrix is diagonal matrixComputation time per orbit of celestial OD system(s)Computation time per orbit of geomagnetic OD system (s)

EKF 0.39.5

UKF 1.611.7

UPF
(sample
num = 20)
39.5313.9