UKF-Based Vehicle Pose Estimation under Randomly Occurring Deception Attacks

Algorithm 1

UKF-based secure recursive estimator.

Step 1.	Initialization:
(1)	Set the values of initial pose state , initial estimate state , initial estimation error covariance matrix , and initial state covariance matrix
(2)	Set the value of and determine the value of (the norm bound of arbitrary signal )
(3)	Set the control input signal , i.e., translational and rotational acceleration for the autonomous vehicle
(4)	Let and choose the proper for all to calculate , , , and
(5)	Set discrete time index
Step 2.	State covariance matrix is updated as follows:
Step 3.	The secure recursive estimator gain and are calculated as follows:
Step 4.	Set and go to Step 2.