Recently autonomous and semi-autonomous Unmanned Aerial Vehicle (UAV) swarms started to receive a lot of research interest and demand from various civil application fields. However, for successful mission execution, UAV swarms require Global navigation satellite system signals and in particular, Global Positioning System (GPS) signals for navigation. Unfortunately, civil GPS signals are unencrypted and unauthenticated, which facilitates the execution of GPS spoofing attacks. During these attacks, adversaries mimic the authentic GPS signal and broadcast it to the targeted UAV in order to change its course, and force it to land or crash. In this study, we propose a GPS spoofing detection mechanism capable of detecting single-transmitter and multi-transmitter GPS spoofing attacks to prevent the outcomes mentioned above. Our detection mechanism is based on comparing the distance between each two swarm members calculated from their GPS coordinates to the distance acquired from Impulse Radio Ultra-Wideband ranging between the same swarm members. If the difference in distances is larger than a chosen threshold the GPS spoofing attack is declared detected.

翻译：近年来，自主与半自主无人飞行器（UAV）集群在多个民用应用领域引发了广泛的研究兴趣与需求。然而，为确保任务成功执行，无人机集群需依赖全球导航卫星系统信号，尤其是全球定位系统（GPS）信号进行导航。遗憾的是，民用GPS信号既未加密也未认证，这为实施GPS欺骗攻击提供了便利。在此类攻击中，攻击者模仿真实GPS信号，将其广播至目标无人机，以改变其航向、迫使其着陆或坠毁。本研究提出一种GPS欺骗检测机制，能够识别单发射器与多发射器型GPS欺骗攻击，从而防止上述后果。该机制将每对集群成员基于GPS坐标计算的距离，与同一成员对通过脉冲超宽带（Impulse Radio Ultra-Wideband）测距获取的距离进行比较。若距离差值超过预设阈值，则判定存在GPS欺骗攻击。