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Multi-UAV Cooperative GPS Spoofing Based on YOLO Nano

Yongjie Ding1, Zhangjie Fu1,2,*

1 Engineering Research Center of Digital Forensics, Ministry of Education, Nanjing University of Information Science and Technology, Nanjing, 210044, China
2 College of Information Science and Technology, College of Cyber Security, Jinan University, Guangzhou, 510632, China

* Corresponding Author: Zhangjie Fu. Email:

Journal of Cyber Security 2021, 3(2), 69-78.


In recent years, with the rapid development of the drone industry, drones have been widely used in many fields such as aerial photography, plant protection, performance, and monitoring. To effectively control the unauthorized flight of drones, using GPS spoofing attacks to interfere with the flight of drones is a relatively simple and highly feasible attack method. However, the current method uses ground equipment to carry out spoofing attacks. The attack range is limited and the flexibility is not high. Based on the existing methods, this paper proposes a multi-UAV coordinated GPS spoofing scheme based on YOLO Nano, which can launch effective attacks against target drones with autonomous movement: First, a single-attack drone based on YOLO Nano is proposed. The target tracking scheme achieves accurate tracking of the target direction on a single-attack drone; then, based on the single-UAV target tracking, a multi-attack drone coordinated target tracking scheme based on the weighted least squares method is proposed to realize the target drone Finally, a new calculation method for false GPS signals is proposed, which adaptively adjusts the flight trajectory of the attacking drone and the content of the false GPS signal according to the autonomous movement of the target drone.


Cite This Article

Y. Ding and Z. Fu, "Multi-uav cooperative gps spoofing based on yolo nano," Journal of Cyber Security, vol. 3, no.2, pp. 69–78, 2021.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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