Secure estimation for attitude and heading reference systems under sparse attacks

• Main Authors: Jiang, Rui, Liu, Xinghua, Wang, Han, Ge, Shuzhi Sam
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Electrical and electronic engineering; Secure Attitude Estimation; Attitude and Heading Reference System
• Online Access: https://hdl.handle.net/10356/150872
• Institution: Nanyang Technological University

This paper focuses on the problem of secure attitude estimation for autonomous vehicles. Based on the established AHRS measuring model and the attack model, we have decomposed the optimal Kalman estimate into a linear combination of local state estimates. We then propose a convex optimization-based...