Modern urban railways extensively use computerized sensing and control
technologies to achieve safe, reliable, and well-timed operations. However, the
use of these technologies may provide a convenient leverage to cyber-attackers
who have bypassed the air gaps and aim at causing safety incidents and service
disruptions. In this paper, we study false data injection (FDI) attacks against
railways' traction power systems (TPSes). Specifically, we analyze two types of
FDI attacks on the train-borne voltage, current, and position sensor
measurements - which we call efficiency attack and safety attack -- that (i)
maximize the system's total power consumption and (ii) mislead trains' local
voltages to exceed given safety-critical thresholds, respectively. To
counteract, we develop a global attack detection (GAD) system that serializes a
bad data detector and a novel secondary attack detector designed based on
unique TPS characteristics. With intact position data of trains, our detection
system can effectively detect the FDI attacks on trains' voltage and current
measurements even if the attacker has full and accurate knowledge of the TPS,
attack detection, and real-time system state. In particular, the GAD system
features an adaptive mechanism that ensures low false positive and negative
rates in detecting the attacks under noisy system measurements. Extensive
simulations driven by realistic running profiles of trains verify that a TPS
setup is vulnerable to the FDI attacks, but these attacks can be detected
effectively by the proposed GAD while ensuring a low false positive rate.Comment: IEEE/IFIP DSN-2016 and ACM Trans. on Cyber-Physical System
