【摘要】：隨著信息技術(shù)的飛速發(fā)展,物理世界的各類設(shè)備逐漸互聯(lián)互通,深度融合信息空間和物理空間的信息物理系統(tǒng)(Cyber-PhsicalSystems,CPS)應(yīng)運而生。它集成計算、通信和控制技術(shù),通過資源優(yōu)化配置,感知、管理、調(diào)控著人類生活的方方面面,在工業(yè)生產(chǎn)、智能電網(wǎng)、智能交通、智慧醫(yī)療和國防軍事等領(lǐng)域具有廣泛應(yīng)用,極大地改善了人類生產(chǎn)生活方式,因此受到國內(nèi)外研究者的高度關(guān)注。信息物理系統(tǒng)的眾多應(yīng)用中都需要對系統(tǒng)狀態(tài)進行遠程估計,例如環(huán)境監(jiān)測中對污染指標信息的準確估計決定著監(jiān)測效果,工業(yè)生產(chǎn)中對被控對象運行狀態(tài)的精確估計影響著控制信號的計算和生產(chǎn)效率。因此遠程估計問題是CPS的基本問題之一,準確高效的遠程估計是系統(tǒng)綜合性能得以保障的先決條件。然而網(wǎng)絡(luò)節(jié)點資源受限、通信不可靠和安全威脅給遠程估計的研究帶來了巨大挑戰(zhàn)。最近,基于能量調(diào)度的CPS遠程估計研究得到了廣泛關(guān)注并取得了很大進展,但仍存在許多不足之處。例如,當(dāng)前利用實時信息進行資源在線調(diào)度的研究缺少考慮時變通信環(huán)境的影響,對于攻擊行為的認知主要局限于典型單一攻擊模態(tài)以及遠程估計的應(yīng)用研究多數(shù)基于對物理對象和通信環(huán)境的理想假設(shè)等。本文針對這些研究不足,從遠程估計的性能優(yōu)化、安全保障和技術(shù)應(yīng)用三個層面開展研究,主要工作和貢獻點概括如下:1.概述了信息物理系統(tǒng)遠程估計問題及其研究現(xiàn)狀,并分析了已有研究的不足之處。2.研究面向遠程估計的傳感器能量最優(yōu)動態(tài)調(diào)度策略�？紤]具有時間關(guān)聯(lián)特性的時變衰減信道對遠程估計性能的影響,以最小化遠端估計器期望平均估計誤差協(xié)方差為優(yōu)化目標,以傳感器平均能量消耗為約束,利用Markov決策過程理論設(shè)計了 一種基于實時丟包信息的動態(tài)能量調(diào)度策略,并從理論上證明了動態(tài)調(diào)度的最優(yōu)性。對于傳感器每時刻只能用低能量發(fā)送本地數(shù)據(jù)的情形,證明并給出了遠程估計穩(wěn)定性的充分必要條件。3.研究面向遠程估計的隨機事件驅(qū)動能量調(diào)度機制。為精確刻畫事件驅(qū)動調(diào)度下遠程估計的先驗分布,引入具有時變參數(shù)的隨機事件驅(qū)動機制,利用系統(tǒng)實時測量新息設(shè)計了更加有效的在線能量調(diào)度策略,得到相應(yīng)的極小均方估計算法。提出了調(diào)度策略中最優(yōu)化參數(shù)序列的一般性問題,并且對于一類具有特殊參數(shù)結(jié)構(gòu)的應(yīng)用場景,給出了最優(yōu)的參數(shù)切換策略。4.研究針對遠程估計的事件驅(qū)動攻擊策略和性能評估�？紤]了一種具有入侵傳感器、篡改調(diào)度算法、竊聽測量信息和注入錯誤反饋信息等多種能力的攻擊者,設(shè)計了能夠躲避攻擊檢測的事件驅(qū)動智能攻擊策略。從攻擊者角度獲得了攻擊下的近似極小均方估計算法,并解析地給出攻擊過程中不改變通信率的攻擊閾值。為評估估計性能,利用隨機分析理論證明了所設(shè)計的攻擊策略破壞了遠程估計穩(wěn)定性條件和漸近估計精度。5.研究基于遠程估計的能量有效目標追蹤方法。在感知距離受限移動傳感器進行目標追蹤的應(yīng)用場景中,考慮不可靠通信導(dǎo)致數(shù)據(jù)丟包的影響,構(gòu)建了保障傳感器能夠以預(yù)先給定概率追蹤到移動目標的約束下最小化總移動距離的優(yōu)化問題�；谶h程估計技術(shù)和最優(yōu)任務(wù)分配理論的應(yīng)用,設(shè)計了包含目標位置估計與預(yù)測、目標不確定區(qū)域覆蓋、移動節(jié)點分配三個步驟的能量有效協(xié)同追蹤方法。最后對全文進行了總結(jié),并展望進一步的研究工作。
[Abstract]:With the rapid development of information technology, the information physical systems (CPS) of the information space and physical space of the advanced integration information space and physical space have come into being. It integrates computing, communication and control technology, and has wide application in the fields of industrial production, intelligent power grid, intelligent transportation, intelligent medical treatment and national defense military through resource optimization, configuration, sensing, management and control of all aspects of human life. The invention greatly improves the human production and life style, and is therefore highly concerned by the researchers at home and abroad. In many applications of the information physics system, it is necessary to estimate the system state remotely, such as the accurate estimation of the pollution index information in the environment monitoring, and the accurate estimation of the running state of the controlled object in the industrial production affects the calculation and production efficiency of the control signal. Therefore, the remote estimation problem is one of the basic problems of CPS, and the accurate and efficient remote estimation is a prerequisite for guaranteeing the comprehensive performance of the system. However, the resources of the network node are limited, the communication is unreliable and the security threat poses a great challenge to the research of the remote estimation. Recently, the research of CPS remote estimation based on energy scheduling has received extensive attention and made great progress, but there are still many shortcomings. For example, the current research of resource on-line scheduling with real-time information lacks the influence of time-varying communication environment, and the cognition of the attack is mainly limited to the typical single attack mode and the application of the remote estimation, most of which are based on the ideal hypothesis of physical object and communication environment. In view of these deficiencies, this paper studies the performance optimization, security assurance and technical application of remote estimation, and the main work and contribution points are as follows:1. In this paper, the problem of remote estimation of the information physical system and its research status are summarized, and the shortcomings of the existing research are also analyzed. The energy-optimal dynamic scheduling strategy for remotely-estimated sensors is studied. considering the effect of a time-varying attenuation channel having a time-related characteristic on the performance of the remote estimation to minimize the expected average estimated error covariance of the remote estimator as an optimization target, the sensor average energy consumption is constrained, The dynamic energy scheduling strategy based on real-time packet loss information is designed by the Markov decision process theory, and the optimality of the dynamic scheduling is proved theoretically. For the case where the sensor can only transmit local data at low energy per time, a sufficient and sufficient condition for the stability of the remote estimation is given. The stochastic event-driven energy scheduling mechanism for remote estimation is studied. In order to accurately describe the prior distribution of the remote estimation under the event-driven scheduling, a random event-driven mechanism with time-varying parameters is introduced, and a more effective online energy scheduling strategy is designed by using the system real-time measurement of the new interest, and a corresponding minimum mean-square estimation algorithm is obtained. The general problem of the optimal parameter sequence in the scheduling strategy is put forward, and the optimal parameter switching strategy is given for a class of application scenarios with special parameter structure. The event-driven attack strategy and performance evaluation for remote estimation are studied. An event-driven intelligent attack strategy, which is capable of avoiding attack detection, is designed in this paper, which has the capability of intrusion sensor, tamper scheduling algorithm, eavesdropping measurement information and injection error feedback information. The approximate minimum mean-square estimation algorithm under the attack is obtained from the attacker's point of view, and the attack threshold of the communication rate is not changed in the attack process. In order to evaluate the estimation performance, the random analysis theory is used to prove that the designed attack strategy has destroyed the remote estimation stability condition and the asymptotic estimation precision. The energy-effective target tracking method based on remote estimation is studied. In the application scene of sensing distance limited movement sensor for target tracking, considering the influence of unreliable communication on the data packet loss, the optimization problem of minimizing the total moving distance under the constraint that the sensor can track the moving object with the preset probability is constructed. Based on the application of the theory of remote estimation and optimal task assignment, the energy-effective cooperative tracking method is designed, which includes three steps: target position estimation and prediction, target uncertainty area coverage, and mobile node assignment. Finally, the paper sums up the full text, and looks forward to the further research work.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2017
【分類號】：TP29

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