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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2022, Vol. 43 ›› Issue (3): 325193.doi: 10.7527/S1000-6893.2021.25193

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Adaptive state estimate for unmanned aircraft cyber-physical system with cyber attack

LI Xiaoyu1, FENG Xiaoxue1, PAN Feng1,2, PU Ning3   

  1. 1. School of Automation, Beijing Institute of Technology, Beijing 100081, China;
    2. Kunming Industry Technology Research Institute INC, Beijing Institute of Technology, Kunming 650106, China;
    3. Yunnan Remote Sensing Center, Kunming 650034, China
  • Received:2020-12-31 Revised:2021-01-23 Online:2022-03-15 Published:2021-03-01
  • Supported by:
    National Natural Science Foundation of China (61433003)

Abstract: An Adaptive-Variance-Minimization-based Recursive Estimator (AVMRE) is proposed for the problem of secure state estimation of Unmanned Aerial Vehicle (UAV) Cyber-Physical System (CPS).By modeling the data attacks on control commands and sensors as the unknown disturbances in the state and measurement equations respectively, an unknown disturbances decoupling state recursive estimator is established, which realizes the unknown measurement disturbances decoupling in filter error.Then, the adaptive adjust factor is designed by the filter residual to minimize the upper bound of the estimate error.Finally, the measurement gain feedback matrix in the algorithm is deduced based on the minimum variance estimation criterion.The distributed event-trigger mechanism is also considered, so that the system can save communication resources in the case of maintaining certain estimation accuracy.In addition, a sufficient condition for the filter error exponential boundedness is given.Simulation results of the UAV flight controller show the effectiveness and superiority of the proposed algorithm over traditional methods.

Key words: unknown disturbance input, event-triggered, adaptive variance minimization, state estimate, disturbance decouple, cyber attack, Cyber-Physical System (CPS)

CLC Number: