{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00209569","sets":["1164:6389:10492:10493"]},"path":["10493"],"owner":"44499","recid":"209569","title":["慣性計測装置に対する共振誘発攻撃の評価"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-02-22"},"_buckets":{"deposit":"6104fe2f-3276-4478-bfbb-364f14273f87"},"_deposit":{"id":"209569","pid":{"type":"depid","value":"209569","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"慣性計測装置に対する共振誘発攻撃の評価","author_link":["528524","528529","528528","528526","528525","528527"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"慣性計測装置に対する共振誘発攻撃の評価"},{"subitem_title":"Evaluation of resonance-induced attacks on inertial measurement unit","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ICSS","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2021-02-22","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"早稲田大学基幹理工学部"},{"subitem_text_value":"早稲田大学基幹理工学部／情報通信研究機構"},{"subitem_text_value":"早稲田大学基幹理工学部／情報通信研究機構"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":" School of Fundamental Science and Engineering, Waseda University","subitem_text_language":"en"},{"subitem_text_value":"School of Fundamental Science and Engineering, Waseda University /  National Institute of Information and Communications Technology","subitem_text_language":"en"},{"subitem_text_value":"School of Fundamental Science and Engineering, Waseda University /  National Institute of Information and Communications Technology","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/209569/files/IPSJ-SPT21041032.pdf","label":"IPSJ-SPT21041032.pdf"},"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-SPT21041032.pdf","filesize":[{"value":"2.4 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"0","billingrole":"46"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_login","version_id":"70e64132-23de-4876-a663-09d05e622c15","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2021 by the Institute of Electronics, Information and Communication Engineers This SIG report is only available to those in membership of the SIG."}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"南澤, 勇太"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"飯島, 涼"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"森, 達哉"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Yuta, Minasawa","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ryo, Iijima","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tatsuya, Mori","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA12628305","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8671","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"自律的に走行する自動運転車，ドローン，ロボット等が現在の位置や姿勢を推定する手法として，自己位置推定と呼ばれる技術がある．自己位置推定は自動運転にも利用されており，自動運転における物体認識や経路計画などの機能は自己位置推定の結果に基づいて動作するため，重要な技術である．自己位置推定には，慣性計測装置 (inertial measurement unit: IMU) ，GNSS，LiDAR といった様々なセンサやシステムが利用されている．本論文は，自己位置推定を実現する技術群の内，特に IMU に焦点を当て，IMU を構成するセンサに対して共振誘発攻撃による意図的なノイズを印加した際に，IMU の姿勢，角度推定に与える影響を評価する．MATLAB による IMU の動作を忠実に実装したシミュレーション実験の結果，回転する車両に搭載された加速度センサに対し，向心力方向にノイズを印加した時に最も誤差が増大すること，およびランダムノイズより定数ノイズの方が誤差が大きくなることを示した．更に，同じく回転車両に搭載されたジャイロセンサに対し，車両の鉛直軸周りの回転を表現する角速度にノイズを印加したときに最も誤差が増大することが分かった．これらの結果は，IMU に対する共振誘発攻撃の有効性を示唆するものである．共振誘発攻撃が成立するリスクを明らかにした．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"6","bibliographic_titles":[{"bibliographic_title":"研究報告セキュリティ心理学とトラスト（SPT）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2021-02-22","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"32","bibliographicVolumeNumber":"2021-SPT-41"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":209569,"updated":"2025-01-19T18:28:41.022173+00:00","links":{},"created":"2025-01-19T01:10:52.232557+00:00"}