Watermarking-based remote secure sequential fusion estimation under the event-triggered mechanism

This paper investigates the problem of remote sequential fusion estimation using event-triggered communication mechanism in cyber–physical systems with deception attack interference. The watermarking defense strategy is used to encrypt and decrypt the data transmitted by sensors, which is convenient for the χ2 detector to detect deception attacks. The effectiveness of the χ2 detector is verified for three different attack scenarios. In addition, an event-triggered mechanism is designed based on the prediction error variance, which greatly saves the network resource while guaranteeing the accuracy of sequential fusion estimation. Finally, simulation results are given to illustrate the effectiveness of the proposed sequential fusion estimation method. •In the context of deception attacks, a sequential fusion estimation method with the ETM is first applied to the CPS.•A watermarking defense strategy is introduced to make deception attacks be detected by χ2 detector.•In different attack scenarios, we prove that no matter which attack strategy the attacker adopts, the watermarking strategy can achieve a good distinction effect.