Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety constrained control framework that adapts the UAV at a path re-planning level to support resilient state estimation against GPS spoofing attacks. The attack detector is used to detect GPS spoofing attacks and provides a switching criterion between the robust control mode and emergency control mode. An attacker location tracker (ALT) is developed to track the attacker's location and estimate the spoofing device's output power by the unscented Kalman filter (UKF) with sliding window outputs. Using the estimates from ALT, we design an escape controller (ESC) based on the model predictive controller (MPC) such that the UAV escapes from the effective range of the spoofing device within the escape time.

Original languageEnglish (US)
Title of host publication2020 59th IEEE Conference on Decision and Control, CDC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781728174471
StatePublished - Dec 14 2020
Event59th IEEE Conference on Decision and Control, CDC 2020 - Virtual, Jeju Island, Korea, Republic of
Duration: Dec 14 2020Dec 18 2020

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546


Conference59th IEEE Conference on Decision and Control, CDC 2020
CountryKorea, Republic of
CityVirtual, Jeju Island

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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