Real-Time Detection for GPS Spoofing of Quad-Rotor Helicopter Based on Data Fusion

In order to detect quad-rotor helicopter GPS spoofing attacks in real time, a quad-rotor helicopter GPS spoofing detection method is proposed that only uses airborne monocular camera and inertial measurement unit (IMU) data fusion. First, the ORB feature points in the video stream are extracted through the monocular camera, and the yaw angular velocity of the quad-rotor helicopter is estimated based on the homography matrix transformation. Secondly, the yaw angular velocity estimated by the monocular camera is compared with the data solved by the IMU based on the extended Kalman filter. The optimal yaw angular velocity is obtained through fusion, and the altitude change of the quad-rotor helicopter is estimated by analyzing the position changes of the characteristic points. Finally, the correlation between the yaw angular velocity and altitude changes estimated by the multi-sensor fusion data and the actual GPS data is calculated. If the threshold is exceeded, the quad-rotor helicopter is judged. Subject to GPS spoofing attack. Practical verification was carried out on the quad-rotor helicopter ANAFI. The experimental results show that this method can detect whether the quad-rotor helicopter is subject to GPS spoofing attacks in real time, providing strong technical support for the quad-rotor helicopter to resist GPS spoofing attacks.