摘要
针对欺骗攻击下线性时不变多传感器系统状态估计精度下降的问题,提出了一种基于自适应指数权重函数的分布式安全状态估计算法。首先,基于χ^(2)检测器和累积威布尔函数设计了一种改进的攻击检测器,其检测阈值可以随系统预先设置好的虚警率自适应变化;基于检测器输出和自适应阈值设计附加权重。在此基础上,提出了一种分布式安全状态估计算法,并证明了全局估计误差的有界性。该算法能有效降低攻击对全局状态估计的影响,在满足系统特定虚警率要求的前提下,提高估计精度。仿真结果表明,与不含攻击检测器的融合算法和基于χ^(2)检测的融合算法相比,所提算法位移的平均估计精度分别提高72%和13%,速度的平均估计精度分别提高60%和16%,加速度的平均估计精度分别提高69%和15%。
A distributed secure state estimation algorithm based on adaptive exponential weight function is proposed for linear time-invariant multi-sensor systems whose state estimation accuracy degrades under spoofing attacks.Firstly,an improved attack detector is designed based on theχ^(2)-detector and cumulative Weibull function,and its detection threshold can adapt to a predefined false alarm rate.Additional weight is designed by using detector output and adaptive threshold.On this basis,a distributed secure state estimation algorithm is proposed,and the boundedness of global estimation error is proved.This algorithm can effectively reduce the impact of attacks on global state estimation and improve the estimation accuracy on the premise of meeting the specific false alarm rate requirements of the system.The simulation results show that compared with the fusion algorithm without attack detection and the fusion algorithm based on theχ^(2)-detection,the proposed algorithm improves the average estimation accuracy of displacement by 72%and 13%,the average estimation accuracy of velocity by 60%and 16%,and the average estimation accuracy of acceleration by 69%and 15%,respectively.
作者
仇海涛
李宇轩
朱翠
QIU Haitao;LI Yuxuan;ZHU Cui(Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science&Technology University,Beijing 102206,China;Beijing Jingwei Hirain Technologies Co.,Inc.,Beijing 100191,China;School of Information and Communication Engineering,Beijing Information Science&Technology University,Beijing 102206,China)
出处
《中国惯性技术学报》
北大核心
2025年第5期472-478,486,共8页
Journal of Chinese Inertial Technology
基金
北京市自然科学基金(4222052)
北京信息科技大学“勤信人才”培育计划项目(QXTCP C202110)
北京信息科技大学促进高校分类发展重点研究培育项目(2121YJPY221)。
关键词
多传感器系统
欺骗攻击
自适应阈值
融合估计
multi-sensor system
spoofing attack
adaptive threshold
fusion estimation
作者简介
仇海涛(1974-),男,副研究员,研究生导师,从事导航制导与控制等研究;通讯作者:朱翠(1983-),女,副教授,研究生导师,从事数据融合,导航制导等研究。
