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This paper presents a dynamic watermarking-based active detection approach for unmanned helicopter system under stealthy replay attacks. First, the dynamic model of the 3-DOF helicopter and the replay attack model are constructed, respectively. Statistical analysis is conducted using Kalman filter residuals to interpret the concealment of stealthy replay attacks for a system under intrusion. Then, as traditional chi-square detector is unable to detect stealthy replay attacks, an active detector by incorporating dynamic watermarking with the chi-square detector is explored. Finally, by conducting simulations of the detection procedures under different test scenarios comparatively using traditional chi-square detector and the proposed approach, the effectiveness and merits of the watermarking approach is verified sufficiently. The watermarking-based approach is promising in comprehensive detections against stealthy replay attacks for enhancing system security.<\/jats:p>","DOI":"10.1177\/01423312221134326","type":"journal-article","created":{"date-parts":[[2022,12,9]],"date-time":"2022-12-09T04:50:53Z","timestamp":1670561453000},"page":"2388-2398","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Stealthy replay attack detection of 3-DOF helicopter benchmark system using dynamic watermarking approach"],"prefix":"10.1177","volume":"47","author":[{"given":"Wei","family":"Li","sequence":"first","affiliation":[{"name":"School of Logistics Engineering, Shanghai Maritime University, China"}]},{"given":"Hai","family":"Qian","sequence":"additional","affiliation":[{"name":"School of Logistics Engineering, Shanghai Maritime University, China"}]},{"given":"Min","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Economics and Management, Shanghai Maritime University, China"}]},{"given":"Sumei","family":"Wang","sequence":"additional","affiliation":[{"name":"National Rail Transit Electrification and Automation Engineering Technology Research Center (Hong Kong Branch), The Hong Kong Polytechnic University, Hong Kong"}]},{"given":"Feng","family":"Wang","sequence":"additional","affiliation":[{"name":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7012-5237","authenticated-orcid":false,"given":"Xiaoyuan","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Southeast University, Nanjing, China"}]}],"member":"179","published-online":{"date-parts":[[2022,12,9]]},"reference":[{"key":"e_1_3_2_2_1","first-page":"1","article-title":"Robustness of dynamic-watermarking attack-detection method","volume":"46","author":"Da-Jun D","year":"2020","unstructured":"Da-Jun D, Jing-Fan Z, Chang-Da Z, et al. 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