Herein, the problem of target tracking in wireless sensor networks (WSNs) is investigated\nin the presence of Byzantine attacks. More specifically, we analyze the impact of Byzantine attacks\non the performance of a tracking system. First, under the condition of jointly estimating the target\nstate and the attack parameters, the posterior Cramer-Rao lower bound (PCRLB) is calculated. Then,\nfrom the perspective of attackers, we define the optimal Byzantine attack and theoretically find a\nway to achieve such an attack with minimal cost. When the attacked nodes are correctly identified\nby the fusion center (FC), we further define the suboptimal Byzantine attack and also find a way to\nrealize such an attack. Finally, in order to alleviate the negative impact of attackers on the system\nperformance, a modified sampling importance resampling (SIR) filter is proposed. Simulation\nresults show that the tracking results of the modified SIR filter can be close to the true trajectory of\nthe moving target. In addition, when the quantization level increases, both the security performance\nand the estimation performance of the tracking system are improved.
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