UKF-Based Vehicle Pose Estimation under Randomly Occurring Deception Attacks

Figure 1

Simulation performance of the proposed filter (legend “UKF”), the filter in [18] (legend “EKF”), and the Kalman Filter (legend “KF”). The first column illustrates the ground truth state and measurement values. The second column shows estimation errors. The third column represents the norms of the estimator covariance matrices , which are real positive numbers in this case. The first to fourth rows show results where , 0.9, 0.99, and 0.999, respectively.