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Gordian: Formal Reasoning-based Outlier Detection for Secure Localization

机译：棘手的:正式Reasoning-based异常值检测安全定位

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摘要

Accurate localization from Cyber-Physical Systems (CPS) is a critical enabling technology for context-aware applications and control. As localization plays an increasingly safety-critical role, location systems must be able to identify and eliminate faultymeasurements to prevent dangerously inaccurate localization. In this article, we consider the range-based localization problem and propose amethod to detect coordinated adversarial corruption on anchor positions and distance measurements. Our algorithm, Gordian, rapidly finds attacks by identifying geometric inconsistencies at the graph level without requiring assumptions about hardware, ranging mechanisms, or cryptographic protocols.We give necessary conditions for which attack detection is guaranteed to be successful in the noiseless case, and we use that intuition to extend Gordian to the noisy case where fewer guarantees are possible. In simulations generated from real-world sensor noise, we empirically show that Gordian's trilateration counterexample generation procedure enables rapid attack detection even for combinatorially difficult problems.
机译：从Cyber-Physical系统准确定位(CPS)是一个关键使能技术上下文感知应用程序和控制。定位中发挥着越来越高安全性的作用时,系统必须位置能够识别并消除faultymeasurements防止危险的准确定位。在本文中,我们考虑到基于范围并提出amethod本地化问题检测协调对抗腐败锚的位置和距离测量。算法,棘手的,迅速发现的攻击确定几何不一致的图不需要假设水平硬件,包括机制,或加密协议。攻击检测是保证成功在无噪声的情况下,我们使用直觉延长棘手的吵闹的情况更少担保是可能的。从实际传感器噪声,我们经验棘手的三边测量的反例代过程使快速攻击即使是组合难以发现问题。

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