A Class of Nonlinear Kalman Filters Under a Generalized Measurement Model With False Data Injection Attacks

In this letter, a generalized measurement model (GMM) is established under the attack injecting additive and multiplicative false data, simultaneously. The GMM can be applied to any existing nonlinear Kalman filters (NKFs), such as extended Kalman filter (EKF), cubature Kalman filter (CKF), and geometric unscented Kalman filter (GUF). Based on the constructed GMM, a class of nonlinear Kalman filters with GMM (NKFs-GMM) is proposed to deal with additive false data, multiplicative false data, and simultaneous attacks on additive and multiplicative false data with no increase of computational complexity. Numerical simulations show that the filtering accuracy of NKFs-GMM is superior to that of corresponding NKFs.