注入攻击下的扩展卡尔曼滤波安全检测

doi:10.16180/j.cnki.issn1007-7820.2023.10.009

Abstract

Abstract:

Cyber-physical system is an open networked intelligent information system, which is vulnerable to security attack. Injection attack is a kind of communication attack, and injection of false data makes the sensor get wrong measurement value, which leads to system performance deterioration. To solve this problem, this study combines the extended Kalman state estimator and uses the detection scheme of extended Kalman filter state estimation based on the least trace principle to detect the new information sequence in the same scene and judge the system state through hypothesis testing. The simulation experiments on MATLAB show that under the given attack detection rules, the detection scheme can effectively detect the injection attack and reduce the performance loss caused by the wrong measurement value of the sensor.

Key words: cyber-physical system, injection attack, communication attack, extended Kalman filtering, state estimation, minimum trace, new information sequence, hypothesis testing

CLC Number:

TP393

LI Xiuwen,WANG Lei,REN Zhu. Security Detection of Extended Kalman Filter under Injection Attack[J].Electronic Science and Technology, 2023, 36(10): 68-73.

Figures/Tables 5

Figure 1.

Table 1.

Data transfer"

k	α_k	y_k	$y^k$
1	1	y₁	y₁
2	0	有误	y_2\|1
3	0	有误	y_3\|1
4	1	y₄	y₄
5	0	有误	y_5\|4
6	1	y₆	y₆

Table 1.

Figure 2.

Figure 3.

Figure 4.

References 19

[1]	高夏翔, 李相俊, 杨锡运. 集中式超大规模储能电站信息物理系统建模与可靠性评估[J]. 控制与决策, 2022, 37(5):1309-1319.
	Gao Xiaxiang, Li Xiangjun, Yang Xiyun. Modeling and reliability assessment of centralized ultra large scale energy storage power station cyber physical system[J]. Control and Decision, 2022, 37(5):1309-1319.
[2]	Ao W, Song Y, Wen C. Distributed secure state estimation and control for CPSs under sensor attacks[J]. IEEE Transactions on Cybernetics, 2019, 50(1):1-11.
[3]	Li Y, Shi L, Cheng P, et al. Attacks on remote state estimation in cyber-physical systems:A game-theoretic approach[J]. IEEE Transactions on Automatic Control, 2015, 60(10):2831-2836. doi: 10.1109/TAC.2015.2461851
[4]	张岱峰, 段海滨. 恶意攻击下基于分布式稀疏优化的安全状态估计[J]. 自动化学报, 2021, 47(4): 813-824.
	Zhang Daifeng, Duan Haibin. Secure state estimation based on distributed sparse optimization under malicious attacks[J]. Acta Automatica Sinica, 2021, 47(4):813-824.
[5]	Fawzi H, Tabuada P, Diggavi S. Secure estimation and control for cyber-physical systems under adversarial attacks[J]. IEEE Transactions on Automatic Control, 2012, 59(6):1454-1467. doi: 10.1109/TAC.2014.2303233
[6]	骆宏伦, 邢玛丽, 黄雄. 带随机量测时滞和随机丢包的改进无迹卡尔曼滤波[J]. 控制理论与应用, 2021, 38(1):1-10.
	Luo Honglun, Xing Mali, Huang Xiong. An improved unscented Kalman filtering with randomly delayed measurement and randomly missing measyrements[J]. Control Theory and Applications, 2021, 38(1):1-10.
[7]	Montestruque L A, Antsaklis P. Stability of model-based networked control systems with time-varying transmission times[J]. IEEE Transactions on Automatic Control, 2004, 49(9):1562-1572. doi: 10.1109/TAC.2004.834107
[8]	Zhu C, Su Z, Xia Y, et al. Event-triggered state estimati-on for networked systems with correlated noises and packet losse[J]. ISA Transactions, 2020, 104(10):36-43. doi: 10.1016/j.isatra.2019.11.038
[9]	朱军, 李紫豪, 刘炳辰, 等. 基于自适应插值扩展卡尔曼滤波的永磁同步电机状态估计[J]. 电子科技, 2020, 33(5):66-71.
	Zhu Jun, Li Zihao, Liu Bingchen, et al. State estimation for permanent magnet synchronous motor based on adaptive interpolation extended Kalman filter[J]. Electronic Science and Technology, 2020, 33(5):66-71.
[10]	杜峥, 刘孟凯, 周建勋, 等. 高速采样下含网络攻击的信息物理系统H_{_}/H_∞故障检测[J]. 控制与决策, 2022, 37(5):1395-1401.
	Du Zheng, Liu Mengkai, Zhou Jianxun, et al. H_{_}/H_∞ fault detection of cyber-physical systems with cyber attacks under high speed sampling[J]. Control and Decision, 2022, 37(5):1395-1401.
[11]	Pang Z H, Liu G P. Design and implementation of secure networked predictive control systems under deception attacks[J]. IEEE Transactions on Control Systems Technology:A Publication of the IEEE Control Systems Society, 2012, 20(5):1334-1342.
[12]	Yang F S, Liang X H, Xiao H G. Resilient distributed economic dispatch of a cyber-power system under DoS attack[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(1):40-50.
[13]	孙洪涛, 彭晨, 王志文. DoS攻击下的信息物理系统事件触发预测控制设计[J]. 控制与决策, 2019, 34(11):2303-2309.
	Sun Hongtao, Peng Chen, Wang Zhiwen. Event-triggered predictive control of cyber-physical systems under DoS attacks[J]. Control and Decision, 2019, 34(11):2303-2309.
[14]	邬晶, 李依宁, 李少远. 分布式电网CPS系统数据攻击下的状态估计[J]. 控制与决策, 2016, 31(2):331-336.
	Wu Jing, Li Yining, Li Shaoyuan. State estimation for distributed cyber-physical power systems under data attacks[J]. Control and Decision, 2016, 31(2):331-336.
[15]	Wang J, Luo X. Research on airborne passive location based on extend Kalman filter with control inputs[C]. Beijing: Proceedings of the Third International Conference on Information Science and Control Engineering, 2016:1389-1392.
[16]	Han L, Cai W, Pu X, et al. Method on fetal electrocard-iogram extraction utilizing light GBM combined with EKF[C]. Chongqing: The Thirteenth International Conference on Communication Software and Networks, 2021:348-351.
[17]	谯小康, 屈小媚. 基于车辆与车辆的车联网分布式协同感知定位[J]. 控制理论与应用, 2021, 38(7):988-996.
	Qiao Xiaokang, Qu Xiaomei. Vehicle to vehicle-based distributed cooperative sensing positioning for internetof vehicles[J]. Control Theory and Applications, 2021, 38(7):988-996.
[18]	Li L, Yu D, Xia Y, et al. Remote nonlinear state estimation with stochastic event-triggered sensor schedule[J]. IEEE Transactions on Cybernetics, 2019, 49(1):734-745. doi: 10.1109/TCYB.6221036
[19]	李闻白, 林飞龙, 潘竹生. 带有随机丢包的扩展卡尔曼滤波稳定性分析[J]. 浙江师范大学学报(自然科学版), 2019, 42(3):261-266.
	Li Wenbai, Lin Feilong, Pan Zhusheng. Stability of extended Kalman filtering with stochastic packet losses[J]. Journal of Zhejiang Normal University(Natural Science), 2019, 42(3):261-266.

Security Detection of Extended Kalman Filter under Injection Attack

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 5

References 19

Related Articles 10

Metrics

Comments

Recommended 0

[1]	Sunyun YANG,Xiu KAN. Design of Biological Behavior Analysis System Based on Vision and IMU Sensors [J]. Electronic Science and Technology, 2022, 35(4): 28-34.
[2]	HU Wenqiang,HU Jianpeng. WiFi/PDR Fusion Real-Time Localization Algorithm Based on Region Constraint [J]. Electronic Science and Technology, 2022, 35(10): 21-26.
[3]	YU Jiawei,HU Haiyang. Energy Consumption Model of Cyber-Physical System Based on Object-Oriented Fuzzy Petri Net [J]. Electronic Science and Technology, 2021, 34(7): 19-25.
[4]	SUN Yangyan,ZHOU Xiuying,REN Zhu. Security State Estimation and Detection for Biasing Attack [J]. Electronic Science and Technology, 2021, 34(12): 75-80.
[5]	ZHOU Hongkun. Design and Implementation of the Multi Sensor Integrated Navigation System for MiniUAV [J]. , 2016, 29(8): 10-.
[6]	TANG Aiping. Linear Mixed Effects State Space Model Based on Monte Carlo Method [J]. , 2015, 28(3): 30-.
[7]	YOU Xiaowei. Research on Information Fusion Technology for Active-Passive Radar Composite Seeker [J]. , 2014, 27(9): 97-.
[8]	TANG Zheng, HAO Ming, ZHOU Peng, DU Li-Gang. Tracking Algorithm for Maneuvering Target Based on Adaptive Kalman Filter [J]. , 2013, 26(4): 78-.
[9]	ZHANG Ya-Qi, ZHOU Chen-Yu, LI Jian. Research on Four-wheel Steering State Estimate Based on Kalman Forecast [J]. , 2012, 25(4): 13-.
[10]	MENG Xiang-Fei. Analysis of the Effects of Passive Location Based on the Extended Kalman Filtering Algorithm [J]. , 2012, 25(3): 25-.