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.
关键词
多传感器CPS/隐蔽性攻击/状态差异残差/分布式检测/安全状态估计
Key words
multi-sensor CPS/stealthy attacks/state difference residual/distributed detection/secure state estimation
维普
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