Linear and unscented covariance analyses are implemented to compare the nominal performance of an extended and unscented Kalman filter for estimating the relative position and velocity of a deputy spacecraft using two camera line-of-sight measurements from a chief spacecraft, as well as the position, velocity, and attitude of the chief spacecraft. Dead reckoning of IMU data is used with external aiding from GPS and magnetometer measurements aboard the chief spacecraft. The ratio of nongravitational acceleration acting on the deputy spacecraft with respect to the chief spacecraft is included in order to stochastically include the effects of perturbations to relative motion. Camera specifications, such as resolution and baseline, are investigated to determine their effects on the nominal performance.