定位系统恶意攻击同源性分析及协同观测器定位矫正方法

史雨堃; 李肖磊; 上官义恒; 车万里; 王友清

doi:10.16383/j.aas.c240717

定位系统恶意攻击同源性分析及协同观测器定位矫正方法

doi: 10.16383/j.aas.c240717 cstr: 32138.14.j.aas.c240717

史雨堃^{1, 2,},
李肖磊^1,,
上官义恒^1,,
车万里^1,,
王友清^{1, 2,}

1.
北京化工大学信息科学与技术学院北京 100029
2.
建筑钢结构智能制造技术兵团重点实验室乌鲁木齐 830022

基金项目: 国家自然科学基金(62303038, 62433004), 中央高校基本科研业务费(ZY2411), 新疆生产建设兵团科技计划(2024YD016)资助

详细信息

作者简介:
史雨堃：北京化工大学信息科学与技术学院讲师. 主要研究方向为控制系统恶意攻击, 分布式安全状态估计. E-mail: yukun_shi@buct.edu.cn

李肖磊：北京化工大学信息科学与技术学院硕士研究生. 主要研究方向为GPS定位模拟. E-mail: 2023200743@buct.edu.cn

上官义恒：北京化工大学信息科学与技术学院硕士研究生. 主要研究方向为分布式系统恶意攻击. E-mail: 2023200785@buct.edu.cn

车万里：北京化工大学信息科学与技术学院硕士研究生. 主要研究方向为控制系统恶意攻击. E-mail: 2024200769@buct.edu.cn

王友清：北京化工大学信息科学与技术学院教授. 主要研究方向为复杂工业系统安全, 故障诊断与容错控制. 本文通信作者. E-mail: wang.youqing@ieee.org

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出版历程
- 收稿日期: 2025-01-06
- 录用日期: 2025-02-14
- 网络出版日期: 2025-03-30

Homology Analysis of Positioning System Offset Caused by Malicious Attack and the Method of Positioning Calibration Using Distributed Secure State Observer

SHI Yu-Kun^{1, 2
,},
LI Xiao-Lei^1
,,
SHANGGUAN Yi-Heng^1
,,
CHE Wan-Li^1
,,
WANG You-Qing^{1, 2
,}

1.
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029
2.
Key Laboratory of Intelligent Manufacturing Technology for Architectural Steel Structures, Xinjiang Production and Construction Corps, Urumqi 830022

Funds: Supported by National Natural Science Foundation of China (62303038, 62433004), Fundamental Research Funds for the Central Universities (ZY2411), and Science and Technology Program of XPCC (2024YD016)

More Information

Author Bio:
SHI Yu-Kun　Lecturer at the College of Information Science and Technology, Beijing University of Chemical Technology. His research interest covers malicious attacks on control systems, and distributed security state estimation

LI Xiao-Lei　Master student at the College of Information Science and Technology, Beijing University of Chemical Technology. His main research interest is GPS positioning simulation

SHANGGUAN Yi-Heng　Master student at the College of Information Science and Technology, Beijing University of Chemical Technology. His main research interest is malicious attacks on distributed systems

CHE Wan-Li　Master student at the College of Information Science and Technology, Beijing University of Chemical Technology. His main research interest is malicious attacks on control systems

WANG You-Qing　Professor at the College of Information Science and Technology, Beijing University of Chemical Technology. His research interest covers complex industrial system security, and fault diagnosis and fault-tolerant control. Corresponding author of this paper

摘要

摘要: 全球定位系统由于其较长的传输距离和较弱的加密方式, 易受到恶意攻击的影响. 定位系统中的恶意阻断攻击、恶意欺骗攻击与恶意偏差注入攻击会导致攻击范围内的接收设备产生相似的定位偏移. 针对定位系统中恶意攻击的同源性进行了深入分析, 并设计了分布式观测器以实现定位矫正. 针对定位系统中常见的三种攻击, 分别设计了恰当的模拟实现方式, 能够在多次蒙特卡洛实验很好的控制环境变量, 从而得到具有统计意义的实验结果. 本文还建立了不随偏差注入攻击幅值变化的定位偏移同源性的衡量指标, 分析了三种典型恶意攻击的同源性. 然而, 现有的分布式观测器方法没有考虑系统包含安全输出和存在有界噪声的情况, 这使得观测器的应用受到了限制. 同时提出了一种适配复杂系统的观测器来实现恶意攻击下的定位校正, 并得到了观测器收敛的充分条件. 仿真结果证明了观测器理论的有效性.
- 控制系统恶意攻击 /
- 同源攻击 /
- 全球定位系统 /
- 阻断攻击 /
- 欺骗攻击 /
- 偏差注入攻击
Abstract: The Global Positioning System is susceptible to malicious attacks due to its extensive transmission and fragile encryption. The existence of Blocking, Spoofing, or Biasing Injection Attacks in positioning systems would induce similar positioning offsets in the receiver within the attack vicinity. Relevant research presupposes that the aforementioned identical positioning offset is a homologous attack, and proposes that positioning calibration under malicious attack can be achieved through distributed collaboration. However, the homology of positioning offsets and their measurement methodology remain unclear. In this study, for the three classical malicious attacks in the positioning system, appropriate experimental methods are devised separately, which can facilitate Monte Carlo experiments and control environmental variables, thereby ensuring the statistical significance of the experimental results. This study also establishes the homology index of positioning offsets, scrutinizes the the statistical homology of the three typical malicious attacks. However, existing distributed secure state estimation methods did not consider the existence of secure measurement and bounded noise, which limits the application of this theory. In this paper, a more comprehensive observer is proposed to achieve positioning calibration under meaconing attack, and a sufficient condition for the convergence of the observer has been obtained. The simulation results demonstrate the effectiveness of the observer theory.
- Control system malicious attack /
- homologous attack /
- global positioning system /
- blocking attack /
- spoofing attack /
- biasing injection attack
注释:

1) 1¹ http://github.com/google/gps-output-tools² https://urs.earthdata.nasa.gov/

2) 2https: //urs.earthdata.nasa.gov/

3) 3³ https: //en.wikipedia.org/wiki/Coefficient_of_variation

4) 4⁴ 卫星编号为: 1 4 5 10 11 12 13 15 18 19 21 24 28 33 195 196.

HTML全文

图 1 GPS定位中使用的硬件和软件

Fig. 1 Hardware and software used in GPS positioning

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图 2 三种攻击的模拟实现方法原理示意图

Fig. 2 Schematic diagram of simulation implementation methods for three types of attacks

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图 3 接收器的位置以及它的同源度$ \theta$

Fig. 3 The location of the receiver and its homology $ \theta$

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图 4 阻断攻击数量对同源度的影响(蒙特卡洛)

Fig. 4 The impact of blocking attack quantity on homology (Monte Carlo)

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图 5 欺骗攻击数量对同源度的影响(蒙特卡洛)

Fig. 5 The impact of spoofing attack quantity on homology (Monte Carlo)

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图 6 偏差注入攻击数量对同源度的影响(蒙特卡洛)

Fig. 6 The impact of biasing injection attack quantity on homology (Monte Carlo)

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图 7 偏差注入攻击幅值对同源度的影响(蒙特卡洛)

Fig. 7 The impact of biasing injection attack amplitude on homology (Monte Carlo)

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图 8 利用DSSE实现GPS定位校正的整体系统图

Fig. 8 The overall system diagram of GPS positioning calibration using DSSE

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图 9 系统的拓扑结构

Fig. 9 Topology structure of the system

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图 10 各个无人机的状态估计误差

Fig. 10 Estimation error of state for each drone

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图 11 各个无人机的状态分量估计误差

Fig. 11 Estimation error of state components for each drone

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图 12 各个无人机的中间攻击估计

Fig. 12 Estimation of intermediate attacks by each drones

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