网络攻击情形下基于事件触发机制的分布式集员滤波研究

Distributed filtering based on wireless sensor network is a widely concerned research area. In practical engineering, the sensor nodes are frequently subject to malicious cyber attacks as well as energy constraints. As such, this project is concerned with the distributed set-membership filtering problems via wireless sensor networks with consideration of both security and energy-saying. First, the system dynamics will be established, while taking into account simultaneously network topological information, network-induced phenomena and cyber attacks and disturbances; then, the more appropriate attack model will be proposed considering the diversity and stealthy of the attack; meanwhile, the event triggering mechanism will be designed, which aims to lower the communication frequency via reducing the unnecessary data transmission between sensor nodes, thereby promoting the efficiency of energy usage; consequently, we will seek the sufficient conditions for the existence of the desired disturbed filtering and analyze the convergence and robustness of the proposed filtering algorithm, and furthermore, quantify the relationship between the factors (cyber attacks, energy constraints, etc) and the filtering performance; finally, the obtained theoretical results will be verified in the platform established for the localization problem for multiple mobile robots. This project devotes to enriching and expanding the existing results, which is of great significance from aspects of both theory and application.

基于无线传感器网络的分布式滤波是当前备受关注的前沿研究热点领域。实际应用中，网络节点常常受到恶意攻击的威胁，同时受到能量有限的制约。本项目以此为背景，提炼出基于无线传感器网络的兼顾安全与节能的分布式集员滤波这一科学问题。首先，综合考虑网络拓扑结构、网络诱导现象与攻击、扰动等的交叉耦合，建立起系统动力学模型；其次，针对网络攻击行为模式的多样性与隐蔽性的复杂特征，建立起更为切合实际的网络攻击模型；与此同时，设计事件触发机制，通过减少节点之间不必要的信号传输来降低通信频率，从而提高能量的利用效率；随后，探索期望的分布式滤波器的存在性条件，并分析滤波算法的收敛性与鲁棒性，进而揭示各要素（网络攻击、能量约束等）与滤波性能之间的定量刻画；最后，将所得的理论成果在针对移动机器人定位问题的模拟实验装置平台上进行实验验证。本项目将致力于丰富、拓展现有的研究成果，其研究成果具有重要的理论意义和广泛的应用前景。

基于无线传感器网络的分布式滤波是当前备受关注的前沿研究热点领域。实际应用中，网络节点常常受到恶意攻击的威胁，同时受到能量有限的制约。本项目以此为背景，研究了无线传感器网络的兼顾安全与节能的分布式集员滤波问题。首先，建立了系统动力学模型，能够综合描述网络拓扑结构、网络诱导现象与攻击、扰动等的交叉耦合；其次，建立了更为切合实际的网络攻击模型来刻画网络攻击行为模式的多样性与隐蔽性等复杂特征；同时，设计了事件触发机制，通过减少节点之间不必要的信号传输有效地降低通信频率，从而提高了能量的利用效率；随后，给出了滤波器参数设计方法，定量刻画了各要素（网络攻击、能量约束等）与滤波性能之间的内在联系；最后，通过数值仿真等手段在各种模拟实验装置平台上对所得理论成果进行了验证。

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