Analysis of Filtering Methods for Satellite Autonomous Orbit Determination Using Celestial and Geomagnetic Measurement

Table 5

Comparison of computation cost.

Filter; method	Theoretical value of computation cost		Simulation value of computation cost
	Φ is full matrix	Φ is diagonal matrix	Computation time per orbit of celestial OD system(s)	Computation time per orbit of geomagnetic OD system (s)
EKF	𝐶EKF=3𝑛^3+3𝑛^2+4𝑛	𝐶^′EKF=6𝑛^2+4𝑛	0.3	9.5
UKF	𝐶UKF=2𝑛^3+12𝑛^2+14𝑛+5	𝐶^′UKF=2𝑛^3+12𝑛^2+14𝑛+5	1.6	11.7
UPF; (sample; num = 20)	𝐶UPF=samplenum⋅𝐶UKF	𝐶^′UPF=samplenum⋅𝐶^′UKF	39.5	313.9