Rigid-Covert GNSS Spoofing of UAV Swarms: A Structural Blind Spot, Its Detection Limit, and Absolute-Anchor Defenses
Authors: Minseok Park, Joon Soo Yoo
Organizations: Jeonbuk National University · Dept. of Electronic Engineering · Jeonju, Republic of Korea · Dept. of Advanced Defense Technology and Industry
Abstract
Cooperative UAV-swarm defenses commonly cross-check GNSS positions against measured inter-drone geometry. We show that this relative-geometry channel has a structural blind spot: a common, slowly varying translation (a rigid-covert shift, RigidShift) preserves all pairwise distances and is therefore unobservable to any relative-only detector (a gauge-freedom argument). We validate this blindness on distance-verification and semidefinite-feasibility baselines, while explicitly distinguishing it from onboard inertial/GNSS monitors that can raise a bare alarm but cannot recover the swarm's true position. To quantify when an external reference restores observability, we derive the drift-dependent detection floor 2γ/(1−ts/T) for a calibrated anchor-residual detector and empirically identify an additional detector-specific noise floor (measured slope 2.66 vs. predicted 2.67). We then present a centralized anchor-rooted recovery pipeline that reconstructs swarm geometry from inter-drone ranges, aligns it to a trusted-anchor subset with Byzantine-robust fitting, and recovers the absolute positions of non-anchored drones. A segmented estimator jointly estimates anchor drift, attack rate, and onset when no clean-epoch label is available. Across statistical simulations, ArduPilot software-in-the-loop experiments, and Gazebo experiments with rendered vision anchors, the method recovers the positions of non-anchored drones to a median error of 0.39 m (20 seeds) under approximately 10.1 m of GNSS drift, and to 7.1 cm (5 seeds) in the rendered-vision multi-SITL setting. We also characterize the explicit limits imposed by non-collinear anchor geometry, anchor coverage, τ→0 drift-attack aliasing, and majority anchor compromise. All evaluations are simulation-based and use no RF spoofing hardware or physical swarm.
The presence of UAVs in military operations has recently increased, also increasing the demand for defense systems against UAV attacks. UAVs can also be used as countermeasures. Most available methods rely on UAV-to-UAV communication and global positioning. However, such resources may not be available in modern warfare scenarios. To address these limitations, we propose a pipeline for ground-target protection against UAV attacks that employs autonomous swarms of UAVs. We assume a communication- and GPS-denied environment in which the UAVs use onboard sensors to track the target and coordinate as a swarm. We developed Kalman filters to estimate the states of unknown targets and the positions of UAVs in the swarm using only relative measurements. Also, our strategy is to encircle the target of interest to maximize coverage. To achieve that, we propose a decentralized swarm encirclement technique that adapts to the target's motion. Our approach was extensively validated using real robots, demonstrating its effectiveness in detecting, encircling, and intercepting hostile UAVs.
Dimitria Silveria, Paulo Ricardo Marques de Araujo, Tiago Nascimento +1
Global navigation satellite system (GNSS) denial can prevent an unmanned surface vehicle (USV) from both finding a distant vessel and maintaining a globally referenced approach. This paper presents AUSLUN (Automatic UAV Search, Localization, and USV Navigation), a fixed-hover aerial-surface system that uses a coastal unmanned aerial vehicle (UAV), which estimates its own pose through visual-inertial odometry (VIO), as a long-range sensing and navigation anchor. The central design shifts sensing motion from UAV translation to a zoom pod and closes the loop through three coupled elements: polygon-aware annular pod scanning, modality-aware bearing-range localization, and target-relative USV guidance with visual-loss recovery. The same gated recursive estimator uses laser range for the non-cooperative target and datalink range for the cooperative USV. Search-planning simulations show that the adaptive yaw bounds reduce scan time and redundant coverage relative to a matched fixed-sector scan, and GPS-referenced field data show that the gated recursive estimator outperforms non-recursive baselines in localization accuracy. An integrated maritime mission further demonstrates the complete search-to-navigation sequence, including a deliberately triggered visual-loss recovery. These results establish the feasibility and operating boundary of fixed-hover UAV assistance for stationary-target approach in coastal GNSS-denied environments. The source code and a video demonstration are publicly available at https://github.com/xirhxq/pod_search and https://youtu.be/S-5RkJs35JI.
Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional interference. This paper presents a decentralized, lightweight 3D position-refinement layer that improves robustness by fusing each Unmanned Aerial Vehicle (UAV)'s local estimate with neighbor-shared state summaries and inter-UAV range or proximity constraints. The method performs uncertainty-aware neighborhood fusion by weighting each UAV's prior according to its reported covariance and weighting neighbor constraints according to link quality, ranging uncertainty, and a learned trust score. To support practical deployment, the framework explicitly handles cold start and temporary localization loss by inflating or substituting weak priors, allowing trusted neighborhood constraints to bootstrap and stabilize estimates until absolute sensing recovers. To mitigate the impact of faulty or malicious participants, each UAV applies a local range-consistency check, smoothed over time, to down-weight or exclude neighbors whose reported positions are incompatible with observed inter-UAV distances. Simulation experiments with 10 UAVs in a 3D volume show that the proposed refinement substantially reduces mean localization error during cold start, remains competitive after local estimators stabilize, and maintains lower error as the fraction of malicious nodes increases compared with fusion without trust. These results suggest that the approach can serve as a practical resilience layer for swarm operation in challenging environments.