Hierarchical Average Fusion With GM-PHD Filters Against FDI and DoS Attacks

We address the multisensor multitarget tracking problem based on a hierarchical sensor network. In this setup, there is a fusion center, several cluster heads, and many sensors. Each sensor runs a Gaussian mixture probability hypothesis density (PHD) filter. The sensors send their locally calculated Gaussian components to the local cluster head in the presence of false data injection (FDI) and denial-of-service (DoS) attackers. We propose a hybrid PHD averaging fusion framework that consists of two parts: one uses the arithmetic average (AA) fusion to compensate for information shortage due to DoS and the other uses the geometric average (GA) fusion to suppress false information due to FDI. By integrating the respective zero forcing and avoiding behaviors of the two average fusion approaches, our proposed hybrid fusion scheme is proven resilient to both FDI and DoS attacks. Experimental results illustrate that our proposed algorithm can provide reliable tracking performance against FDI and DoS attacks.