GPS spoofing detection algorithm for quad-rotor helicopter based on speed/height comparison

Abstract

In order to detect whether the GPS is abnormal in the flight state of small size quad-rotor, a GPS spoofing detection algorithm based on data fusion is proposed. Firstly, the velocity data from the monocular camera is calculated by using the self-velocity measurement algorithm based on the improved pyramid optical flow method. Secondly, the speed and altitude data of the IMU sensor unit of the small size quad-rotor were obtained, exactly the speed data were fused with the velocity data measured by using the optical flow method to obtain the optimal velocity estimation at that time. Finally, the small size quad-rotor GPS sensor data information is obtained, the aircraft speed and altitude data are calculated, and comparing with the data calculated in the previous step, to determine whether the GPS data at this time is abnormal. The experimental results on Anafi show that the present GPS spoofing detection algorithm can quickly detect data anomalies during flight. It can be seen that the present algorithm can provide strong technical support for GPS spoofing detection of quad-rotor.

Keywords

• 数据融合
• 金字塔光流
• gps欺骗
• 四轴飞行器
• 飞行器自测速