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This paper is concerned with maneuvering target tracking in multiple airborne moving platform and multi-sensor system with the unscented Kalman filter. Based on fuzzy inference system and current statistical model, we present a novel three dimension (3D) fuzzy adaptive unscented Kalman filter (FUKF) algorithm. The algorithm improves the ability of comprehending target maneuvering by adjusting the system covariance. The Monte-Carlo simulation results prove its availability.