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Journal of Zhejiang University SCIENCE C 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/FITEE.2300621


An attack-resilient distributed extended Kalman consensus filtering with application to multi-UAV tracking problems


Author(s):  Yuru HU, Wangyan LI, Lifeng WU, Zhensheng YU

Affiliation(s):  College of Science, University of Shanghai for Science and Technology, Shanghai 200093, China

Corresponding email(s):   Wangyan_Li@usst.edu.cn

Key Words:  Extended Kalman filtering, Hypothesis testing, Rectification strategy, Multi-UAV tracking


Yuru HU, Wangyan LI, Lifeng WU, Zhensheng YU. An attack-resilient distributed extended Kalman consensus filtering with application to multi-UAV tracking problems[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .

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author="Yuru HU, Wangyan LI, Lifeng WU, Zhensheng YU",
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Abstract: 
This study investigates as to how the events of deception attacks are distributed during the fusion of multi-sensor nonlinear systems. Firstly, a deception attack with limited energy (DALE) is introduced under the framework of distributed extended Kalman consensus filtering (DEKCF). Next, a hypothesis testing-based mechanism to detect the abnormal data generated by DALE, in the presence of the error term caused by the linearization of the nonlinear system, is established. Once the DALE is detected, a new rectification strategy can be triggered to recalibrate the abnormal data, restoring it to its normal state. Then, an attack-resilient distributed extended Kalman consensus filtering (AR-DEKCF) algorithm has been proposed, and its fusion estimation errors have been demonstrated to satisfy the mean square exponential boundedness performance, under appropriate conditions. Finally, the effectiveness of which has been confirmed through simulations involving multi-unmanned aerial vehicle (multi-UAV) tracking problems.

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