Consensus Secure State Estimation of Unmanned Aircraft CPS under Dual FDI Attacks

The problem of distributed secure state estimation of unmanned aircraft formation flight under false data injection (FDI) attacks, both in the controller and sensor, is considered in this paper. The dual FDI attacks are equivalent to the unknown disturbance inputs contained in the state and measurement models, and a consensus estimation method-based disturbance decoupling observer is proposed in this paper. First, a full-order unknown input observer is designed to achieve the optimal decoupling of the state estimate from the controller FDI attack. Then, using the information exchange of the neighboring unmanned aircraft, a compensation strategy is designed for sensor FDI attacks based on the attack detector statistic, so that the unmanned aircraft formations tend to the consensus secure state estimate. Besides, the stability proof of the algorithm is given. Finally, the example of unmanned aircraft flight control systems verify the effectiveness and superiority of the proposed algorithm.