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

Sampling interval RMS (after convergence) Maximum (after convergence) Position error/m Velocity error/m/s Position error/m Velocity error/m/s EKF 203.318211 0.196622 532.987272 0.486705 UKF 161.312723 0.162900 357.545600 0.407503 UPF 159.756079 0.160780 354.555359 0.402378 EKF 271.640953 0.287641 703.000581 0.613708 UKF 245.939302 0.219864 593.829098 0.563749 UPF 245.229683 0.219566 593.802048 0.563396 EKF 934.238939 0.976641 2457.895170 2.348656 UKF 736.876288 0.699942 2322.291896 2.302674 UPF 735.166932 0.698808 2314.761249 2.294924