Robotics Laboratory, Shenyang Institute of Autonation, Chinese Academy of Sciences, Shenyang 110016, P.R. China;
Department of Auto-control, Shenyang Institute of Aeronautical Engineering, Shenyang 110136, P.R. China;
Robotics Laboratory, Shenyang Institute of Autonation, Chinese Academy of Sciences, Shenyang 110016, P.R. China;
Adaptive Unscented Kalman filter (UKF), innovation, MIT rule, process covariance;