The invention discloses a multi-source undisturbed
attack detection and safe
dynamic positioning method for switching an unmanned ship
system, and the method comprises the steps: building an unmanned ship quality switching model through a
hysteresis quantizer, inhibiting residual buffeting through an event triggering protocol, and transmitting a state and quality
mode switching signal to a
shore base; designing a multi-source undisturbed rate residual calculation model based on the
state observer, and eliminating the influence of quality switching and event triggering on the residual; constructing a
spoofing attack detection function, obtaining a state and
modal detection result, and designing a safety controller according to the state and
modal detection result; meanwhile, an event triggering and watermarking mechanism is introduced into a controller-
actuator channel to
resist spoofing attacks; according to the method, a closed-loop
system is constructed based on a double-event triggering protocol, finally, safe
dynamic positioning of the quality switching unmanned ship is achieved, detection
false alarm and missing alarm caused by rate residual buffeting due to switching behaviors and data updating during triggering can be overcome, and the detection strategy is achieved to give an alarm only when a
spoofing attack occurs.