Resilient adaptive covariance Kalman filter for state estimation under false data injection attacks

Abstract In this paper, a resilient adaptive covariance Kalman filter is developed for state estimation under false data injection attack (FDIA) during the process of measurements transmission. The extreme measurement deviation caused by unknown injection vectors is clipped by an adaptive saturation function, and an adaptive noise covariance matrix triggered by prediction residual is constructed to enhance the estimation performance and stability of the filtering error system under FDIA. To analyze the asymptotic convergence of the algorithm, the error expression is constructed to analyze the upper limit of prediction error. Finally, a simulation experiment on an inverted pendulum car verifies the stability and effectiveness of the proposed method in reducing the impact of unknown attack vectors.