A Distributed UAV Swarm Countermeasure Method Based on GNSS Spoofing

Aiming at the problem of unmanned aerial vehicle (UAV) swarm fragmentation caused by the velocity disorder in the process of spoofing, this article designs a distributed UAV swarm countermeasure method based on Global Navigation Satellite System (GNSS) spoofing, which realizes the purpose of spoofing and controlling illegal small UAV swarm. In this article, the dynamic model of distributed UAV swarm is first constructed, the coupling relationship between GNSS spoofing offset and the navigation state parameters of UAV swarm is derived. Then, the slope of slop-type position spoofing signal is used to represent the velocity spoofing offset, and the velocity of swarm is controlled by controlling the slope of slop-type position spoofing signal. Based on the consistency control principle of swarm, the location of whole swarm is driven by spoofing the positioning information of individual, so as to realize the spoofing of the whole target UAV swarm. Finally, it is proved that using this method to spoof the individual of UAV swarm can achieve countermeasures against the whole UAV swarm under the premise of ensuring the integrity and velocity order of swarm through simulation and semi-physical experiments.