Prediction‐discrepancy based on innovative particle filter for estimating UAV true position in the presence of the GPS spoofing attacks

In this paper, a novel prediction‐discrepancy based on innovative particle filter (PDIPF) is proposed to solve the unmanned aerial vehicle (UAV) positioning problem in the presence of the global positioning system (GPS) spoofing attack, supposing that the GPS spoofing effects are in the form of unknown but bounded errors. To cope with the GPS spoofing attacks as unknown sudden changes of system state variables, the compensation of the GPS spoofing effects is adaptively done in two basic parts of PDIPF algorithm including particle weighting and covariance matrix adaption. In addition, a theorem is developed which verifies that the output estimation error is upper bounded by a given probability with the help of the adapted covariance matrix. Besides, the particle weight calculation in PDIPF is done with respect to the prediction discrepancy of generated particles from the GPS measurements. The proposed PDIPF is used to decrease the effects of any GPS spoofing errors with different probability density functions and estimate true position of UAV in the presence of the GPS spoofing attacks. The algorithm is applied to the inertial navigation system/GPS/Loran‐C integration systems. Simulation results demonstrate the effectiveness of the proposed PDIPF algorithm in terms of accuracy and redundancy.