1. A computer-implemented method for generating the estimation of current position, velocity and acceleration state vectors and associated uncertainty estimation (covariance) of a boosting ballistic missile, said method comprising: constructing a state tensor of the projectile from a plurality of sensor measurements in Earth-Centered, Earth-Fixed (ECEF) coordinates using passive angle-only measurements; translating said state tensor to Cartesian coordinates as a transformed state; determining a covariance matrix from said transformed state; updating said transformed state; and updating said covariance matrix.