Research On Covert Spoofing Algorithm Of UAV Based On INS/GNSS Integrated Navigation

Unmanned aerial Vehicle(UAV)systems are important means of information confrontation,information theft,and firepower attack in future war.With the application of INS(intrtial navigation system)/GNSS(Globale Navigation Satellite System)integrated navigation system,UAV have the capability of precise guidance,navigation,and control.However,GNSS,as one of the essential navigation components of UAV,is vulnerable to malicious interference by hostile forces.Many countries regad satellite interference as an attack strategy to reduce the efficiency of modern weapons,including UAV system.Therefore,it is of great theoretical and practical value to study the covert spoofing algorithm of UAV in the INS/GNSS integrated navigation mode.On the one hand,it provides a new theoretical basis and technical approach for the research of spoofing technology.On the other hand,it provides a clear idea for the strategy agaubst this style of spoofing technology,and then guarantees the safe application of satellite navigation in military and civil fields.1.Aiming at the problem that the spoofing algorithm in INS/GNSS integrated navigation mode needs to be validated theoretically,this paper takes the steady-state matrix as a breakthrough to study the controllability and stability of the influence of spoofing signals on the output of INS/GNSS integrated navigation,under different navigation accuracy and different navigation modes.2.Aiming at the problem that the influence of UAV flight controller is neglected in the research of GNSS spoofing technology,this paper designs a spoofing tracking controller based on the comprehensive consideration of INS/GNSS integrated navigation system and trajectory tracking flight control system of particle UAV,which makes UAV deviate from the original reference trajectory unconsciously and navigate according to the deception trajectory planned by deception tracking controller.In practical application,it is far from enough to carry out relevant research on spoofing technology for particle UAV.At present,both common multi-rotor UAVs and fixed-wing UAVs are six-degree-of-freedom non-linear models that need to consider linear motion and angular motions.In view of this,according to the unique dynamic models of multi-rotor and fixed-wing UAVs,this paper optimizes the algorithm adaptability involved in the spoofing tracking controller to meet the practical application requirements of various types of UAVs.3.Faced with the type of multi-rotor UAV,this paper proposes the spoofing and control algorithms based on trajectory-inuced,which can make the position offset of multi-rotor UAV and also maintain the small changes in attitudes difference under the process of spoofing attack,so as to enhance the concealment of spoofing.4.In the face of the more complex mathematical model and flight control rate of fixed-wing UAV,this paper proposes a concealed spoofing algoruthm based on point-by-point pulling deviation,which makes the fixed-wing UAV approach the termination point of deceptive target slowly due to spoofing attack,while ensuring its flight stability.