UAV time-varying formation tracking dynamic target under GPS spoofing attack

This paper investigates the analysis, operation, and recovery of trajectory planning for UAV time-varying formation tracking a dynamic target under a GPS spoofing attack in a complex environment. Firstly, the desired formation position and pattern are considered sufficient conditions based on the Lyapunov stability theory (LST) to achieve formation tracking. then by introducing vertical components into LST to generate reference velocity, which can make the formation converge to an optimal tracking height in the process of tracking a 3D moving target. Secondly, an aspect to consider the problem is the spoofing attack sent by tracking a target on both the GPS data transmission channel and the communication link connecting the UAV. A collaborative localization method is designed that utilizes in-group distance measurement and target ranging to solve trajectory deviation problems caused by such GPS spoofing attacks, where the identification of the attack is based on cumulative error. Extensive simulations validate the effectiveness of this proposed strategy.