Degradable Tracking System based on Hardware Multi-Model Estimators

Sensing systems onboard unmanned vehicles operate in an environment of constrained computational resources. A cyber-attack may primarily aim to degrade these computing devices and, ultimately, incapacitate the sensing system itself. To prepare a prototype tracking system for degradation, this paper proposes distributed hardware implementation of a Multiple Model estimator on two FPGA units and, after an attack, adaptation of the estimator by leveraging Dynamic Partial Reconfiguration of the single surviving FPGA. The method ensures that the most likely models of the estimator are loaded on to the fabric of the surviving FPGA with minimal interruption.