Information physical system security fusion estimation method based on multi-rate sampling mechanism

The invention relates to the technical field of information physical system security, and discloses an information physical system security fusion estimation method based on a multi-rate sampling mechanism. The method comprises the following steps: [S101] firstly establishing a continuous time linear state space model; [S102] designing a state observer according to the three proposed multi-rate sampling rules; [S103] establishing an information framework containing three attack situations (DoS, FDI, security) by using the two Bernoulli variables; [S104] designing a local safety estimator by using a Kalman filtering algorithm; and [S105] designing a distributed security fusion estimator by using a matrix weighting method. According to the method, the problem that the filtering estimation accuracy is reduced due to the fact that filtering real-time performance and safety are not considered at the same time in a traditional state estimation method is solved. 本发明涉及信息物理系统安全技术领域，公开发布了一种基于多速率采样机制的信息物理系统安全融合估计方法。方法包括