作者: Sangjun Lee , Yongbum Cho , Byung-Cheol Min
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摘要: In this paper, we propose a fault detection and isolation based attack-aware multi-sensor integration algorithm for the of cyberattacks in autonomous vehicle navigation systems. The proposed uses an extended Kalman filter to construct robust residuals presence noise, then parametric statistical tool identify cyberattacks. is on constructed by measurement history rather than one at time properties discrete-time signals dynamic This approach allows provide quick low false alarm rates applications An example INS/GNSS systems presented validate using software-in-the-loop simulation.