Distributed state estimation method of multi-domain unmanned system under network attack

The invention relates to distributed security state estimation of a multi-domain unmanned system based on an intelligent algorithm. The invention discloses a distributed security estimation system for a multi-domain unmanned system under a network attack, which is characterized in that a distributed state interaction model of the multi-domain unmanned system is acquired through multi-sensor information of a heterogeneous multi-domain unmanned system under the network attack, and on the basis, a distributed state estimator of the multi-domain unmanned system under the network attack is designed to estimate the security of the multi-domain unmanned system under the network attack. In combination with a constrained optimization problem of a state estimation error, estimation of network attacks suffered by the multi-domain unmanned system and optimization of gains of a distributed state estimator are realized. Furthermore, the influence of control input on the distributed state estimation effect under the network