Comparison of Adaptive Fuzzy EKF and Adaptive Fuzzy UKF for State Estimation of UAVs Using Sensor Fusion

Development of an Adaptive Fuzzy Extended Kalman Filter (AFEKF) and an Adaptive Fuzzy Unscented Kalman Filter (AFUKF) for the state estimation of unmanned aerial vehicles (UAVs) were presented in this paper based on real flight data of a fixed wing airplane. The Adaptive Neuro Fuzzy extension helps to estimate the values of the EKF's and UKF's Rk covariance matrix at each sampling instant when measurement update step is carried out. The ANFIS monitors the EKF's and UKF's performances attempt to eliminate the gap between theoretical and real innovation sequences' covariance. The investigations show that AFUKF can provide better performance in accuracy and less error than the AFEKF in case of real flight data for maneuvering fixed wing UAVs.