Széchenyi Plusz RRF

This paper presents mono camera-based GPS spoofing detection for aerial vehicles utilizing only image information besides the initial orientation of the vehicle. Orientation information is propagated and motion direction is estimated solely from the mono camera images through the estimation of the essential matrix. Histograms of Oriented Displacements and their correlation are considered to detect spoofing considering GPS and image-based data. Straight and turning simulated fight trajectories of a fixed wing research drone with different turbulence levels are compared to evaluate the method. The results are promising with timely detection of every spoofing scenario and without false alarm. The exploration of real fight data is the topic of future development.