网络攻击下无人机信息物理系统的自适应状态估计

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.