Quadrotor Visual Navigation under GPS Spoofing Attack

This paper presents a quadrotor visual navigation system under the GPS spoofing attack. We use HACKRF to send spoofing signals to the quadrotor. The quadrotor is detected during the outer loop of the system. If the quadrotor is spoofed, the quadrotor switch to visual navigation instead of using GPS signals. In the visual navigation, the image matching technology is used to solve the actual position of the quadrotor for the positioning problem of the quadrotor. A method of information fusion based on reference map matching and motion estimation is proposed for positioning and navigation. We can extraction keypoints, get the image descriptor based on ORB algorithm and binarize them with the corresponding correct geographical coordinates as a reference map. In order to improve the search matching speed, KLT keypoint tracking algorithm is used to estimate the motion information of the quadrotor, and the rough position of auxiliary search reference map is given. Simulations and experiments show the feasibility of the proposed scheme.