Anti-Watermarking Stealthy Deception Attacks Against Networked Unmanned Surface Vehicles

This paper investigates the problem of designing stealthy deception attacks against networked unmanned surface vehicles (USVs) equipped with watermarking detection modules. To overcome the limitations of the existing attack methods affected by watermarking technology, an anti-watermarking stealthy deception attack method is proposed, where two auxiliary estimators are designed to indirectly estimate the compromised system state such that the proposed attacks can deteriorate the performance of USVs without being detected by watermarking modules. Compared with the existing results, the proposed method exhibits better stealthiness. To improve the attack performance, an exponential deception signal model with adjustable parameters is designed, and its destructiveness is analyzed under different conditions. A simulation example is given to demonstrate the effectiveness and superiority of the proposed method.