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Unmanned aerial vehicle sensor spoofing detection method based on GPS and optical flow meter fusion

A spoofing detection and unmanned aerial vehicle technology, applied in instruments, non-electric variable control, control/regulation systems, etc., can solve the problems of weak ground equipment signals, GPS signals are easily interfered and deceived, etc., to achieve the effect of real-time detection

Active Publication Date: 2020-05-29
HARBIN ENG UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

However, the civilian GPS signal structure used by drones is completely open and unencrypted, and the signal received by ground equipment is very weak
Therefore, GPS signals are vulnerable to jamming and spoofing

Method used

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  • Unmanned aerial vehicle sensor spoofing detection method based on GPS and optical flow meter fusion
  • Unmanned aerial vehicle sensor spoofing detection method based on GPS and optical flow meter fusion
  • Unmanned aerial vehicle sensor spoofing detection method based on GPS and optical flow meter fusion

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Embodiment 1

[0043] A deception detection method for UAV sensors based on the fusion of GPS and optical flowmeter. In the stage of data fusion analysis and detection, the present invention uses the real-time data collected by GPS and optical flowmeter at a frequency of 5HZ to calculate the physical environment of the UAV. The flight distance under normal conditions, and realize the decision-making fusion of two sets of data, consider the objective factors of the flight environment, set a reasonable flight safety threshold, in the deception simulation experiment, according to whether the output fusion data is within the threshold range, and then Discovery of GPS spoofing attacks. In this embodiment, the sampling frequency is 5HZ, and the safety threshold is 10.

[0044] Specifically, the UAV sensor deception detection algorithm based on the fusion of GPS and optical flow meter data is as follows: image 3 As shown, the physical meanings of the parameters involved are as follows:

[0045]g...

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Abstract

The invention belongs to the technical field of autonomous navigation unmanned aerial vehicle flight safety, and particularly relates to an unmanned aerial vehicle sensor spoofing detection method based on GPS and optical flow meter fusion. An unmanned aerial vehicle sensor information fusion model is put forward, the fusion level of the model belongs to a decision layer, and the fusion architecture belongs to a post-fusion architecture. The input data of the model is original data collected by the GPS and the optical flow meter, the data information of the GPS and the optical flow meter collected by the unmanned aerial vehicle in real time in the task is analyzed, and the real-time flight distance of the unmanned aerial vehicle is respectively calculated according to two groups of data; and the output of the model is information obtained by fusing the two groups of flight path data. Simulation experiments prove that the GPS generative spoofing real-time detection is realized and the method is efficient and accurate.

Description

technical field [0001] The invention belongs to the technical field of autonomous navigation UAV flight safety, and in particular relates to a deception detection method for UAV sensors based on fusion of GPS and optical flow meter. Background technique [0002] The sensor of the unmanned system is an indispensable part to ensure that the unmanned system does not cause harm to the environment or itself. Once the sensor data of the drone is abnormal or lost during the mission, it is very likely to cause the mission to fail. Cause the body to crash, so the safety of the unmanned system sensor has been paid more and more attention. Traditional sensor security work usually only focuses on the security of data transmission in the sensor network, while ignoring the security threat analysis and data protection of the sensor itself. In addition, commercial sensors are often unable to distinguish between normal and abnormal data due to technical or cost constraints. At present, the...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101Y02T10/40
Inventor 杨武孟涟肖唐盖盖
Owner HARBIN ENG UNIV
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