Attack detection and security control for quadrotor under stealthy attacks (Q7015151)

Since the security issues of unmanned aerial vehicles are full of challenges, the present paper considers the problems of the attack detection, attack location and security control problems for quadrotors with stealthy false data injection attacks. Both a watermarking-based attack detector and security control are provided for unmanned aerial vehicles under stealthy attacks. Here parallel Kalman filters are introduced to devise the attack detection and location algorithm. A security control scheme is presented to mitigate attacks and recover the control performance.