Chiang Mai Journal of Science

     This paper proposed a novel approach based on integrated tracking and positioning for Unmanned Aerial Vehicle (UAV) systems. In the proposed scheme, a self-organizing fuzzy Extended Kalman Filter (EKF) system was studied to track the flight trajectory of an UAV. With this goal, the control model of the UAV system with the disturbances was established based on the dynamic equation firstly. Secondly, the self-organizing Fuzzy EKF system was designed to identify and estimate the errors of the UAV position adaptively. And then, the trajectory tracking control was determined for the UAV according to the obtained errors. Finally, the proposed strategy was applied to a UAV to demonstrate the effectiveness.