TABLE 4
Results of Jacobian Comparison
| Jacobian Type | Jacobian Comparison | Median Iteration Number | Unconverged Trial # | |||
|---|---|---|---|---|---|---|
| Median ||ropt – rtruth|| (m) | Median ||δRopt – δRtruth|| (s) | Median ||vopt – vtruth|| (m/s) | Median  (s/s) | |||
| Numerical | 14.1110 | 0.0014 | 0.1020 | 8.2426e-11 | 8 | 6 |
| Analytical | 13.6165 | 0.0013 | 0.1015 | 7.0575e-11 | 14 | 6 |
| Simplified | 14.0418 | 0.0013 | 0.1046 | 7.8802e-11 | 14 | 6 |