Identification and distributed fusion filter for multi-sensor networked systems with stochastic deception attacks

In the multi-sensor networked systems, each sensor produces its local state estimate based on its own observations, and then sends it to a fusion center (FC) for fusion estimation. During transmitting local state estimates to the fusion center, the data may suffer from stochastic deception attacks from malicious attackers, where the probabilities of attacks and the variances of attack noises are unknown. Using a correlation function method (CFM), the probabilities of attacks and the variances of attack noises in individual channels are identified in parallel. The possibly attacked local state estimate is filtered to reproduce local state estimate in the FC. Using the matrix-weighted fusion algorithm in the linear unbiased minimum variance (LUMV) criterion, a distributed fusion filter is performed based on the reproduced local state estimates. A simulation example illustrates the validity of the algorithms.