Abstract:Aiming at the harm of UAVs in the aspects of out-of-control accident and air traffic control interference, a GNSS navigation spoofing method based on point-by-point offset was proposed in this paper, which decoys target UAV to fly away from sensitive areas and protect ground security by reconstructing the wrong navigation coordinate system. It regards the entire UAV spoofing course as time-iterative process of one-step position spoofing bias. Firstly, the actual positions and actual control inputs were estimated according to the kinematica model of UAV and external measurement information; then, the pre-set fraudulent control effects were cancelled out from the actual control inputs, and the deceptive GNSS signals were designed and constructed so that the filter position estimates in GNSS/INS integrated navigation mode were still close to the original expected point, but had the offset; finally, the real state point of UAV was moved to the spoofed target point caused by the trajectory tracking control inputs generated by the offset , thereby achieving a one-step covert spoofing effect. Finally, the point-by-point position offset spoofing of UAV was completed by the iterative application of the one-step spoofing process over time. Simulation results verified the effectiveness of the proposed GNSS navigation spoofing method of UAV. The simulation results showed that the target UAV can slowly deviate from the original trajectory and track the deceptive trajectory by using the GNSS navigation spoofing method based on point-by-point offset, and the trajectory estimated by the integrated navigation filter still tracks the original reference trajectory, thus achieving the purpose of satellite navigation deception. The proposed spoof jamming technique based on point-by-point pull-biased satellite navigation can be used to protect key areas/personnel at low altitude.