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Paper Abstract and Keywords
Presentation 2021-03-02 16:00
Evaluation of resonance-induced attacks on inertial measurement unit
Yuta Minamisawa, Ryo Iijima (Waseda Univ.), Tatsuya Mori (Waseda Univ./NICT) ICSS2020-52
Abstract (in Japanese) (See Japanese page) 
(in English) Self-localization is a technique for estimating the current position and orientation of self-driving cars, drones, robots, and other autonomous vehicles. It is an important technology because functions such as object recognition and route planning adopted by the self-driving systems are dependent on the results of self-localization.
Various sensors and systems such as inertial measurement unit (IMU), GNSS, and LiDAR are used for self-localization.
This paper focuses on the IMU, which is one the key technologies for self-localization, and evaluates the impact on self-localization when intentional noise is applied to the IMU's sensors by resonance-induced attacks.
The results of simulation experiments using MATLAB, which accurately implement the behavior of the IMU, demonstrate that the error increases the most when noise is applied to the accelerometer in the direction of the centripetal force, and that the error is larger with constant noise than with random noise.
It was also demonstrated that the error increased the most when noise was applied to the gyro sensor in the direction of yaw rotation.
These results suggest the effectiveness of resonance-induced attacks on the IMU.
Keyword (in Japanese) (See Japanese page) 
(in English) Self-Localization / Inertial measurement unit / resonance attack / sensor / / / /  
Reference Info. IEICE Tech. Rep., vol. 120, no. 384, ICSS2020-52, pp. 154-159, March 2021.
Paper # ICSS2020-52 
Date of Issue 2021-02-22 (ICSS) 
ISSN Online edition: ISSN 2432-6380
Copyright
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reproduction
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee ICSS IPSJ-SPT  
Conference Date 2021-03-01 - 2021-03-02 
Place (in Japanese) (See Japanese page) 
Place (in English) Online 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Security, Trust, etc. 
Paper Information
Registration To ICSS 
Conference Code 2021-03-ICSS-SPT 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Evaluation of resonance-induced attacks on inertial measurement unit 
Sub Title (in English)  
Keyword(1) Self-Localization  
Keyword(2) Inertial measurement unit  
Keyword(3) resonance attack  
Keyword(4) sensor  
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1st Author's Name Yuta Minamisawa  
1st Author's Affiliation Waseda University (Waseda Univ.)
2nd Author's Name Ryo Iijima  
2nd Author's Affiliation Waseda University (Waseda Univ.)
3rd Author's Name Tatsuya Mori  
3rd Author's Affiliation Waseda University/National Institute of Information and Communications (Waseda Univ./NICT)
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Speaker Author-1 
Date Time 2021-03-02 16:00:00 
Presentation Time 25 minutes 
Registration for ICSS 
Paper # ICSS2020-52 
Volume (vol) vol.120 
Number (no) no.384 
Page pp.154-159 
#Pages
Date of Issue 2021-02-22 (ICSS) 


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