Cyber security for unmanned systems has drawn tremendous research attention in recent years owing to its priority in ensuring system performance and safety. 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.
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