Secure state estimation for multi-sensor CPS with distributed detection and alarm switching
YANG Biao
HE Guang
XIN Liang
LONG Zhi-qiang
Abstract：A method for secure state estimation of multi-sensor cyber-physical systems(CPS)under stealthy attacks on the actuators and sensors is proposed based on distributed detection and alarm switching.By using a group of Kalman filters,a novel residual signal based on state differences is constructed for distributed detection of multiple sensors.The sensor confidence factor is defined,and a secure state estimation framework based on detection and alarm switching is established.Based on this,an integrated algorithm for attack isolation and state estimation is designed under attack scenarios.Finally,a multi-sensor CPS experimental platform is built using a four-wheel mobile robot,and experiments are performed in zero-dynamics attack,covert attack,and replay attack scenarios,respectively.The results show that the secure state estimation method proposed in this paper has good feasibility and effectiveness.
Keywords：multi-sensor CPSstealthy attacksstate difference residualdistributed detectionsecure state estimation
Publication Date：2024-11-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 2121-2130 )