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This paper proposes a pose estimation approach for ground vehicles under randomly occurring deception attacks. By modeling attacks as signals added to measurements with a certain probability, the attack model has been presented and incorporated into the existing process and measurement equations of ground vehicle pose estimation based on multisensor fusion. An unscented Kalman filter-based secure pose estimator is then proposed to generate a stable estimate of the vehicle pose states; i.e., an upper bound for the estimation error covariance is guaranteed. Finally, the simulation and experiments are conducted on a simple but effective single-input-single-output dynamic system and the ground vehicle model to show the effectiveness of UKF-based secure pose estimation. Particularly, the proposed scheme outperforms the conventional Kalman filter, not only by resulting in more accurate estimation but also by providing a theoretically proved upper bound of error covariance matrices that could be used as an indication of the estimator\u2019s status.<\/jats:p>","DOI":"10.1155\/2021\/5572186","type":"journal-article","created":{"date-parts":[[2021,9,24]],"date-time":"2021-09-24T19:28:51Z","timestamp":1632511731000},"page":"1-12","source":"Crossref","is-referenced-by-count":5,"title":["UKF-Based Vehicle Pose Estimation under Randomly Occurring Deception Attacks"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5665-3535","authenticated-orcid":true,"given":"Xinghua","family":"Liu","sequence":"first","affiliation":[{"name":"Department of Power Grid Information and Control Engineering, School of Electrical Engineering, Xi\u2019an University of Technology, Xi\u2019an 710048, China"}]},{"given":"Dandan","family":"Bai","sequence":"additional","affiliation":[{"name":"Department of Power Grid Information and Control Engineering, School of Electrical Engineering, Xi\u2019an University of Technology, Xi\u2019an 710048, China"}]},{"given":"Yunling","family":"Lv","sequence":"additional","affiliation":[{"name":"Department of Power Grid Information and Control Engineering, School of Electrical Engineering, Xi\u2019an University of Technology, Xi\u2019an 710048, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0966-2943","authenticated-orcid":true,"given":"Rui","family":"Jiang","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, National University of Singapore, 117583, Singapore"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5549-312X","authenticated-orcid":true,"given":"Shuzhi Sam","family":"Ge","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, National University of Singapore, 117583, Singapore"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2018.2877217"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1109\/mis.2008.34"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1109\/mis.2020.2965502"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/access.2018.2873571"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1109\/tase.2019.2942069"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/ivs.2019.8814161"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1109\/lcsys.2020.3003789"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2016.2616544"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/bigcomp.2018.00097"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/jiot.2020.2966672"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2017.2676679"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1109\/allerton.2011.6120187"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/tcns.2016.2606880"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1109\/tits.2017.2749409"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1109\/tvt.2020.3026106"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2020.0516"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1109\/tii.2020.3012003"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/jsen.2019.2909817"},{"key":"19","doi-asserted-by":"crossref","DOI":"10.1017\/CBO9781139381284","volume-title":"Mobile Robotics: Mathematics, Models, and Methods","author":"A. 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