UKF-Based Vehicle Pose Estimation under Randomly Occurring Deception Attacks

<div>The diagonal elements in the estimation covariance matrices <span class="nowrap"><svg height="8.68572pt" id="M195" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 9.72961 8.68572" width="9.72961pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M703 650H36V622C118 616 126 607 126 526V124C126 45 117 34 40 28V0H297V28C219 34 211 44 211 124V581C211 609 214 613 245 613H494C521 613 527 610 527 583V124C527 45 519 34 434 28V0H700V28C620 34 612 44 612 124V526C612 605 620 616 703 622V650Z"></path></g></svg>.</span> The first to fourth rows show results where <span class="nowrap"><svg height="12.6525pt" id="M196" style="vertical-align:-3.42944pt" version="1.1" viewbox="-0.0498162 -9.22306 37.0623 12.6525" width="37.0623pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><rect height="0.65243" width="6.5374" x="0" y="-8.52081"></rect><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M478 372C478 418 458 448 431 448C409 448 389 431 389 410C389 404 391 400 394 395C398 388 406 371 406 348C406 253 308 122 251 51H249C254 122 249 257 231 336C212 421 189 448 159 448C126 448 75 412 23 327L48 306C83 354 103 371 115 371C125 371 134 360 144 334C185 224 192 64 183 -19C146 -100 116 -202 110 -244L125 -261C154 -259 208 -234 222 -220C222 -194 225 -84 235 -23C247 -3 273 36 308 79C379 165 478 288 478 372Z"></path></g><g transform="matrix(.013,0,0,-0.013,10.169,0)"><path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,21.432,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,27.672,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z"></path></g><g transform="matrix(.013,0,0,-0.013,30.636,0)"><path d="M285 378C315 398 338 416 353 432C373 451 384 474 384 503C384 579 325 635 236 635H235C182 635 136 610 108 579L65 516L85 496C110 533 150 575 205 575C258 575 300 543 300 481C300 407 232 369 141 339L147 310C163 315 188 321 211 321C268 321 338 284 338 192C338 94 288 40 217 40C160 40 119 68 93 91C85 98 77 97 69 91C60 84 47 71 46 58C44 46 48 35 62 22C75 10 116 -12 162 -12C234 -12 424 62 424 224C424 297 373 359 285 376V378Z"></path></g></svg>,</span> 0.7, 0.9, and 0.999, respectively.</div>

Security and Communication Networks

fig4

Figure 4

Figure 4: UKF-Based Vehicle Pose Estimation under Randomly Occurring Deception Attacks 