Secure estimation for attitude and heading reference systems under sparse attacks
This paper focuses on the problem of secure attitude estimation for autonomous vehicles. Based on the established AHRS measuring model and the attack model, we have decomposed the optimal Kalman estimate into a linear combination of local state estimates. We then propose a convex optimization-based...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2021
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/150872 |
| _version_ | 1824455547549646848 |
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| author | Jiang, Rui Liu, Xinghua Wang, Han Ge, Shuzhi Sam |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Jiang, Rui Liu, Xinghua Wang, Han Ge, Shuzhi Sam |
| author_sort | Jiang, Rui |
| collection | NTU |
| description | This paper focuses on the problem of secure attitude estimation for autonomous vehicles. Based on the established AHRS measuring model and the attack model, we have decomposed the optimal Kalman estimate into a linear combination of local state estimates. We then propose a convex optimization-based approach, instead of the weighted sum approach, to combine the local estimate into a more secure estimate. It is shown that the proposed secure estimator coincides with the Kalman estimator with certain probability when there is no attack, and can be stable when p elements of the model state are compromised. Simulations have been conducted to validate the proposed secure filter under single and multiple measurement attacks. |
| first_indexed | 2025-02-19T03:39:57Z |
| format | Journal Article |
| id | ntu-10356/150872 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:39:57Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1508722021-06-08T10:09:39Z Secure estimation for attitude and heading reference systems under sparse attacks Jiang, Rui Liu, Xinghua Wang, Han Ge, Shuzhi Sam School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Secure Attitude Estimation Attitude and Heading Reference System This paper focuses on the problem of secure attitude estimation for autonomous vehicles. Based on the established AHRS measuring model and the attack model, we have decomposed the optimal Kalman estimate into a linear combination of local state estimates. We then propose a convex optimization-based approach, instead of the weighted sum approach, to combine the local estimate into a more secure estimate. It is shown that the proposed secure estimator coincides with the Kalman estimator with certain probability when there is no attack, and can be stable when p elements of the model state are compromised. Simulations have been conducted to validate the proposed secure filter under single and multiple measurement attacks. 2021-06-08T10:09:38Z 2021-06-08T10:09:38Z 2019 Journal Article Jiang, R., Liu, X., Wang, H. & Ge, S. S. (2019). Secure estimation for attitude and heading reference systems under sparse attacks. IEEE Sensors Journal, 19(2), 641-649. https://dx.doi.org/10.1109/JSEN.2018.2877521 1530-437X 0000-0003-0966-2943 0000-0001-5665-3535 0000-0001-5448-9903 0000-0001-5549-312X https://hdl.handle.net/10356/150872 10.1109/JSEN.2018.2877521 2-s2.0-85055696024 2 19 641 649 en IEEE Sensors Journal © 2018 IEEE. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Secure Attitude Estimation Attitude and Heading Reference System Jiang, Rui Liu, Xinghua Wang, Han Ge, Shuzhi Sam Secure estimation for attitude and heading reference systems under sparse attacks |
| title | Secure estimation for attitude and heading reference systems under sparse attacks |
| title_full | Secure estimation for attitude and heading reference systems under sparse attacks |
| title_fullStr | Secure estimation for attitude and heading reference systems under sparse attacks |
| title_full_unstemmed | Secure estimation for attitude and heading reference systems under sparse attacks |
| title_short | Secure estimation for attitude and heading reference systems under sparse attacks |
| title_sort | secure estimation for attitude and heading reference systems under sparse attacks |
| topic | Engineering::Electrical and electronic engineering Secure Attitude Estimation Attitude and Heading Reference System |
| url | https://hdl.handle.net/10356/150872 |
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