Computing orbit positions of Jovian Satellites / Moons using JPL data
An excellent book by Jean Meeus, "Astronomical Algorithms", provides the calculations for planetary positions and Jupiter's Galilean Moons (Io, Europa, Ganymede, and Callisto). Meeus does not really explain the math to a great degree, so it is relatively simple to follow it as a formulaic approach. He uses VSOP for planetary positions and Lieske's E5 theory for the moons (you can get an explanation of both on Wikipedia). As a bonus, Meeus shows how to make calculations for both parameters with a lesser degree of accuracy which might improve your calculation speed. Though this book can be a bit dense, you might want to read up on the difference between "ephemeris time" and "terrestrial time", as this will affect your accuracy as well.