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在动态目标跟踪中为无人机进行安全的轨迹规划,以防止无法检测到的传感器和执行器攻击

Wei Yue¹, Xiaoyong Zhang¹, Zhongchang Liu¹

¹Marine Electrical Engineering College, Dalian Maritime University, No. 1 Linghai Road, Dalian 116026, China.

ISA transactions

|July 18, 2025

概括

这项研究确保无人机 (UAV) 保持安全的飞行路径,尽管无法检测到的传感器攻击. 一个庞特里亚金.

科学领域:

机器人和控制系统机器人和控制系统
航空航天工程航空航天工程
自主系统的网络安全

背景情况:

无人驾驶飞行器 (UAV) 在敌对环境中面临着重大安全挑战.
传感器和执行器的攻击可能会损害无人机轨迹和任务成功.
现有的检测方法可能会对复杂的,无法检测的对抗策略失败.

研究的目的:

为无人机开发安全的飞行轨迹设计,以防止无法检测的攻击.
确保无人机保持其预先确定的路径,尽管复杂的敌对干扰.
探索全球定位系统 (GPS) 和激光距离传感器 (LDS) 无法检测到的攻击条件.

主要方法:

对无人机传感器和执行器进行无法检测的攻击的数学建模.
对联合GPS和LDS系统的攻击检测限制的分析.
应用Pontryagin的最大原则来安全的轨迹规划.

主要成果:

确定了攻击在GPS和LDS无法检测的条件.
证明了无人机安全飞行轨迹的存在和可行性.
通过数值模拟和Hardware-in-the-Loop (HIL) 实验验验证了拟议策略的有效性.

结论:

拟议的庞特里亚金的基于最大原则的战略有效地规划了安全的无人机轨迹.
无人机可以成功到达目的地,即使受到无法检测的传感器和执行器攻击.
该战略提供了一个强有力的解决方案,以加强在敌对条件下的无人机安全.

关键词:

执行器攻击的攻击庞特里亚金的最大原则是安全的轨道规划安全的轨道规划不能检测到的攻击.

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