Covert Spoofing Algorithm of UAV based on GPS/INS Integrated Navigation

A covert spoofing algorithm of an unmanned aerial vehicle (UAV) based on GPS/inertial-navigation-system-integrated navigation is analyzed in this paper. The proposed algorithm theoretically proves the fact that when the acceleration component of the counterfeit GPS signal is the difference between the UAV's current acceleration and the spoofing control input, the UAV can be covert spoofed. To avoid adverse consequences (detection or crash) caused by frequent changes in UAV flight during the GPS spoofing attacks, the proposed algorithm requires that the deception trajectory planned by the GPS spoofer is slowly changing relative to the reference trajectory, which is pre-set by the UAV. Simulation results have verified the correctness of the proposed covert spoofing algorithm of UAV. Moreover, the spoofing effect is more distinct when the deception trajectory planning is considered.