This paper describes, the development of a sensor fusion algorithm-based Kalman filter architecture, in combination with a low cost Inertial Measurement Unit (IMU) for an Attitude Heading Reference System (AHRS). A low cost IMU takes advantage of the use of MEMS technology enabling cheap, compact, low grade sensors. The use of low cost IMUs is primarily targeted towards Unmanned Aerial Vehicle (UAV) applications due to the requirements for small package size, light weight, and low energy consumption. The high dynamics nature of smaller airframes, coupled with the typical vibration induced noise of UAVs require an efficient, reliable, and robust AHRS for vehicle control. To eliminate the singularities at ±90 • on the pitch and roll axes, and to keep the computational efficiency high, quaternions are used for state attitude representation. x
Cyber-physical systems (cps) are composed of various embedded subsystems and require specialized software, firmware, and hardware to coordinate with the rest of the system. These multiple levels of integration expose attack surfaces which can be susceptible to attack vectors that require novel architectural methods to effectively secure against. We present a multilevel hierarchical monitor architecture cybersecurity approach applied to a flight control system. However, the principles present in this paper apply to any cps. Additionally, the real-time nature of these monitors allow for adaptable security, meaning that they mitigate against possible classes of attacks online. This results in an appealing bolt-on solution that is independent of different system designs. Consequently, employing such monitors leads to strengthened system resiliency and dependability of safety-critical cps.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.