Adaptive decentralized Kalman filters with non-common states for nonlinear systems

•This paper presents two adaptive fault tolerance methods in decentralized network.•A decentralized Kalman filter with non-common states for nonlinear systems is used.•First method is based on a weighted correction of information and information matrix.•Second method modifies the measurement noise matrix using a closed-form solution.•These methods are validated and compared using simulations for a tracking problem.