An Adaptive State-Augmented Kalman Filter for Robust UAV Altitude Control with Online Sensor Bias Correction and Dynamic Weighting in Degraded Environments Mohamad Haniff Harun, Shahrum Shah Abdullah, Mohd Shahrieel Mohd Aras, Mohd Bazli Bahar, Md Ashadi Md Johari, Shamsul Fakhar Abd Gani