Due to the lack of range information constraints，the orbit-determination results of single-station goniometric data in short-arc segments have great uncertainties.A joint orbit-determination algorithm that can directly use the observation data from multiple stations is proposed for the problem of multi-station joint orbit-determination under extremely short-arc conditions.The algorithm does not require the time synchronisation of the joint measurements，and the measurement data with different accuracy can be weighted.At the same time，the corresponding uncertainty estimation method is proposed，and the unscented transformation （UT） is used to calculate the orbit-determination covariance，by which the probability of the orbit-determination results can be described.Simulation experiments are carried out with two-station optical measurements as an example.The results show that the joint two-station orbit-determination can achieve high orbit-determination accuracy when the observation arc segment is less than 0.1% of the orbit period.The semi-long-axis accuracy of GEO and HEO satellites is in the order of kilometers，and that of LEO satellites is in the order of 100 meters.