Trust-Based Distributed Kalman Filter Estimation Fusion under Malicious Cyber Attacks

We consider distributed Kalman filter for dynamic state estimation over wireless sensor networks. It is promising but challenging when network is under cyber attacks. Since the information exchange between nodes, the malicious attacks quickly spread across the entire network, which causing large measurement errors and even to the collapse of sensor networks. Aiming at the malicious network attack, a trust-based distributed processing frame is proposed. Which allows neighbor nodes to exchange information, and a series of trusted nodes are found using truth discovery. As a demonstration, distributed Cooperative Localization is considered, and numerical results are provided to evaluate the performance of the proposed approach by considering random, false data injection and replay attacks.