基于分布式检测与告警切换的多传感器CPS安全状态估计

Secure state estimation for multi-sensor CPS with distributed detection and alarm switching

中文关键词  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

英文关键词  multi-sensor CPS  stealthy attacks  state difference residual  distributed detection  secure state estimation

中文摘要

      针对多传感器信息物理系统(CPS)在执行器和传感器遭受隐蔽性攻击情况下的安全状态估计问题, 本文提出一种基于分布式检测与告警切换的安全状态估计方法. 首先, 利用卡尔曼滤波器组, 构建基于状态差异的残差信号, 用于多传感器的分布式检测; 其次, 定义传感器置信因子, 建立基于检测告警切换的安全状态估计框架, 设计攻击情况下的攻击隔离与状态估计一体化算法; 最后, 利用四驱麦克纳姆轮移动机器人, 搭建了多传感器CPS实验平台, 并分别在零动态攻击、隐蔽攻击和重放攻击场景下进行实验验证, 结果表明, 本文提出的安全估计方法具有较好的可行性和有效性.

英文摘要

      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.