{"id":"https://openalex.org/W7164589013","doi":"https://doi.org/10.1109/access.2026.3703071","title":"Robust State Estimation for Maneuvering UAVs: A Set Transformer-Based Adaptive UKF Approach","display_name":"Robust State Estimation for Maneuvering UAVs: A Set Transformer-Based Adaptive UKF Approach","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7164589013","doi":"https://doi.org/10.1109/access.2026.3703071"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3703071","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3703071","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2026.3703071","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091736147","display_name":"Junjie Zhou","orcid":"https://orcid.org/0000-0001-7758-4807"},"institutions":[{"id":"https://openalex.org/I1299457549","display_name":"Civil Aviation Administration of China","ror":"https://ror.org/05gfwht30","country_code":"CN","type":"government","lineage":["https://openalex.org/I1299457549","https://openalex.org/I4210127216"]},{"id":"https://openalex.org/I58995867","display_name":"Civil Aviation Flight University of China","ror":"https://ror.org/01xyb1v19","country_code":"CN","type":"education","lineage":["https://openalex.org/I58995867"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Zhou","raw_affiliation_strings":["School of Air Traffic Management, Civil Aviation Flight University of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Air Traffic Management, Civil Aviation Flight University of China, Chengdu, China","institution_ids":["https://openalex.org/I58995867","https://openalex.org/I1299457549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102123249","display_name":"Xi Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I1299457549","display_name":"Civil Aviation Administration of China","ror":"https://ror.org/05gfwht30","country_code":"CN","type":"government","lineage":["https://openalex.org/I1299457549","https://openalex.org/I4210127216"]},{"id":"https://openalex.org/I58995867","display_name":"Civil Aviation Flight University of China","ror":"https://ror.org/01xyb1v19","country_code":"CN","type":"education","lineage":["https://openalex.org/I58995867"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Zhao","raw_affiliation_strings":["School of Air Traffic Management, Civil Aviation Flight University of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0009-6040-0245","affiliations":[{"raw_affiliation_string":"School of Air Traffic Management, Civil Aviation Flight University of China, Chengdu, China","institution_ids":["https://openalex.org/I58995867","https://openalex.org/I1299457549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059500418","display_name":"J Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I1299457549","display_name":"Civil Aviation Administration of China","ror":"https://ror.org/05gfwht30","country_code":"CN","type":"government","lineage":["https://openalex.org/I1299457549","https://openalex.org/I4210127216"]},{"id":"https://openalex.org/I58995867","display_name":"Civil Aviation Flight University of China","ror":"https://ror.org/01xyb1v19","country_code":"CN","type":"education","lineage":["https://openalex.org/I58995867"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junhao Liu","raw_affiliation_strings":["School of Air Traffic Management, Civil Aviation Flight University of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Air Traffic Management, Civil Aviation Flight University of China, Chengdu, China","institution_ids":["https://openalex.org/I58995867","https://openalex.org/I1299457549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101856761","display_name":"Xinyu Xu","orcid":"https://orcid.org/0000-0002-7472-2407"},"institutions":[{"id":"https://openalex.org/I1299457549","display_name":"Civil Aviation Administration of China","ror":"https://ror.org/05gfwht30","country_code":"CN","type":"government","lineage":["https://openalex.org/I1299457549","https://openalex.org/I4210127216"]},{"id":"https://openalex.org/I58995867","display_name":"Civil Aviation Flight University of China","ror":"https://ror.org/01xyb1v19","country_code":"CN","type":"education","lineage":["https://openalex.org/I58995867"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Xu","raw_affiliation_strings":["School of Air Traffic Management, Civil Aviation Flight University of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0009-1168-3410","affiliations":[{"raw_affiliation_string":"School of Air Traffic Management, Civil Aviation Flight University of China, Chengdu, China","institution_ids":["https://openalex.org/I58995867","https://openalex.org/I1299457549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138515261","display_name":"Aoxuan Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111251","display_name":"ATM (Poland)","ror":"https://ror.org/01s41x998","country_code":"PL","type":"company","lineage":["https://openalex.org/I4210111251"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Aoxuan Yang","raw_affiliation_strings":["Operations Management Center of ATMB, CAAC, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Operations Management Center of ATMB, CAAC, Beijing, China","institution_ids":["https://openalex.org/I4210111251"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5138546040","display_name":"Fan Pu","orcid":null},"institutions":[{"id":"https://openalex.org/I1299457549","display_name":"Civil Aviation Administration of China","ror":"https://ror.org/05gfwht30","country_code":"CN","type":"government","lineage":["https://openalex.org/I1299457549","https://openalex.org/I4210127216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Pu","raw_affiliation_strings":["Communication Network Center, Southwest Regional Air Traffic Management Bureau, CAAC, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Communication Network Center, Southwest Regional Air Traffic Management Bureau, CAAC, Chengdu, China","institution_ids":["https://openalex.org/I1299457549"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.87828853,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"97118","last_page":"97142"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.23029999434947968,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.23029999434947968,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.13770000636577606,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.08860000222921371,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5759000182151794},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5722000002861023},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5662999749183655},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.44530001282691956},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.42910000681877136},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42669999599456787}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7157999873161316},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5759000182151794},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5722000002861023},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5662999749183655},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.44530001282691956},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.42910000681877136},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42669999599456787},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.35679998993873596},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.34790000319480896},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.30320000648498535},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2906999886035919},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.27950000762939453},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2637999951839447},{"id":"https://openalex.org/C8171440","wikidata":"https://www.wikidata.org/wiki/Q903414","display_name":"Steady state (chemistry)","level":2,"score":0.2533999979496002}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3703071","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3703071","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:e782f588f6954df79741c12e716c7142","is_oa":false,"landing_page_url":"https://doaj.org/article/e782f588f6954df79741c12e716c7142","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 14, Pp 97118-97142 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3703071","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3703071","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7756491303443909,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Reliable":[0],"state":[1],"estimation":[2,194],"is":[3],"critical":[4],"for":[5,113,252],"Unmanned":[6,254],"Aerial":[7,255],"Vehicles":[8],"(UAVs)":[9],"navigating":[10],"complex":[11],"urban":[12],"environments.":[13,263],"However,":[14],"traditional":[15,97],"filters":[16],"and":[17,42,100,122,209,236,249],"recent":[18],"recurrent":[19],"neural":[20,212],"network":[21,213],"(RNN)":[22],"based":[23],"estimators":[24],"often":[25],"fail":[26],"or":[27],"exhibit":[28],"severe":[29],"lag":[30,94,145],"during":[31,170],"aggressive":[32],"maneuvers":[33,124],"due":[34],"to":[35,76,167,198],"rigid":[36],"process":[37,77],"noise":[38],"covariance":[39],"(Q)":[40],"assumptions":[41],"sequence-induced":[43],"hysteresis.":[44],"To":[45],"address":[46],"these":[47],"limitations,":[48],"this":[49,139,243],"paper":[50],"proposes":[51],"the":[52,92,104,114,126,143,155,160,179,183],"A-KIT":[53,156],"UKF,":[54],"a":[55,73,204,220,246],"novel":[56],"framework":[57],"that":[58],"fundamentally":[59],"bridges":[60],"deep":[61],"learning":[62],"with":[63],"classical":[64],"Bayesian":[65],"estimation.":[66],"The":[67],"core":[68],"innovation":[69],"lies":[70],"in":[71,96,147,200,260],"utilizing":[72],"Set":[74],"Transformer":[75],"sliding":[78,132],"windows":[79,133],"of":[80,107,134,216,225],"measurement":[81],"residuals":[82,135],"as":[83,136],"permutation-invariant,":[84],"unordered":[85],"sets.":[86],"This":[87],"architectural":[88,140],"shift":[89,141],"completely":[90],"eliminates":[91,142],"temporal":[93,144],"inherent":[95,146],"adaptive":[98],"algorithms":[99],"LSTM-based":[101,148],"networks,":[102],"enabling":[103],"instantaneous":[105],"regression":[106],"highly":[108,205],"specific,":[109],"axis-decoupled":[110],"scaling":[111,186],"factors":[112],"Q":[115],"matrix.":[116],"High-fidelity":[117],"simulations":[118],"involving":[119],"stochastic":[120],"wind":[121],"high-g":[123,172],"confirm":[125],"method\u2019s":[127],"absolute":[128],"superiority.":[129],"By":[130],"treating":[131],"permutation-invariant":[137],"sets,":[138],"networks.":[149],"Evaluated":[150],"under":[151],"identical":[152],"experimental":[153],"constraints,":[154],"UKF":[157],"significantly":[158],"reduces":[159],"position":[161],"Root":[162],"Mean":[163],"Square":[164],"Error":[165],"(RMSE)":[166],"0.8010":[168],"m":[169],"sustained":[171],"coordinated":[173],"turns":[174],"(an":[175],"88.2%":[176],"improvement":[177],"over":[178],"standard":[180],"EKF).":[181],"Furthermore,":[182],"network\u2019s":[184],"anisotropic":[185],"explicitly":[187],"prevents":[188],"coupled":[189],"multi-axis":[190],"oscillations,":[191],"improving":[192],"attitude":[193],"accuracy":[195],"by":[196],"up":[197],"55.2%":[199],"transient":[201],"maneuvers.":[202],"With":[203],"lightweight":[206],"parameter":[207],"footprint":[208],"an":[210,229,237],"ultra-low":[211],"inference":[214],"latency":[215],"0.60":[217],"ms":[218],"(with":[219],"total":[221],"filter":[222],"step":[223],"time":[224],"2.61":[226],"ms)":[227],"on":[228],"Intel":[230],"Core":[231],"i7-13700H":[232],"CPU":[233],"@":[234],"2.40GHz":[235],"NVIDIA":[238],"GeForce":[239],"RTX":[240],"4060":[241],"GPU,":[242],"approach":[244],"provides":[245],"robust,":[247],"real-time,":[248],"efficient":[250],"solution":[251],"next-generation":[253],"Vehicle":[256],"(UAV)":[257],"vehicles":[258],"operating":[259],"GPS-degraded,":[261],"obstacle-rich":[262]},"counts_by_year":[],"updated_date":"2026-07-03T06:15:21.484131","created_date":"2026-06-13T00:00:00"}