Please use this identifier to cite or link to this item:
https://doi.org/10.1155/2021/5572186
DC Field | Value | |
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dc.title | UKF-Based Vehicle Pose Estimation under Randomly Occurring Deception Attacks | |
dc.contributor.author | Liu, Xinghua | |
dc.contributor.author | Bai, Dandan | |
dc.contributor.author | Lv, Yunling | |
dc.contributor.author | Jiang, Rui | |
dc.contributor.author | Ge, Shuzhi Sam | |
dc.date.accessioned | 2022-10-13T07:56:24Z | |
dc.date.available | 2022-10-13T07:56:24Z | |
dc.date.issued | 2021-09-23 | |
dc.identifier.citation | Liu, Xinghua, Bai, Dandan, Lv, Yunling, Jiang, Rui, Ge, Shuzhi Sam (2021-09-23). UKF-Based Vehicle Pose Estimation under Randomly Occurring Deception Attacks. Security and Communication Networks 2021 : 5572186. ScholarBank@NUS Repository. https://doi.org/10.1155/2021/5572186 | |
dc.identifier.issn | 1939-0114 | |
dc.identifier.uri | https://scholarbank.nus.edu.sg/handle/10635/233253 | |
dc.description.abstract | Considering various cyberattacks aiming at the Internet of Vehicles (IoV), secure pose estimation has become an essential problem for ground vehicles. This paper proposes a pose estimation approach for ground vehicles under randomly occurring deception attacks. By modeling attacks as signals added to measurements with a certain probability, the attack model has been presented and incorporated into the existing process and measurement equations of ground vehicle pose estimation based on multisensor fusion. An unscented Kalman filter-based secure pose estimator is then proposed to generate a stable estimate of the vehicle pose states; i.e., an upper bound for the estimation error covariance is guaranteed. Finally, the simulation and experiments are conducted on a simple but effective single-input-single-output dynamic system and the ground vehicle model to show the effectiveness of UKF-based secure pose estimation. Particularly, the proposed scheme outperforms the conventional Kalman filter, not only by resulting in more accurate estimation but also by providing a theoretically proved upper bound of error covariance matrices that could be used as an indication of the estimator's status. © 2021 Xinghua Liu et al. | |
dc.publisher | Hindawi Limited | |
dc.rights | Attribution 4.0 International | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | Scopus OA2021 | |
dc.type | Article | |
dc.contributor.department | ELECTRICAL AND COMPUTER ENGINEERING | |
dc.description.doi | 10.1155/2021/5572186 | |
dc.description.sourcetitle | Security and Communication Networks | |
dc.description.volume | 2021 | |
dc.description.page | 5572186 | |
Appears in Collections: | Elements Staff Publications |
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