Spatial GNSS Spoofing against Drone Swarms with Multiple Antennas and Wiener Filter

Spoofing of global-navigation satellite system (GNSS) signals to induce a target position estimate is a relevant security threat to the navigation of drones. However, spoofing multiple drones simultaneously as they move in a swarm, without disrupting their formation, is a complex task. In this paper, we propose to transmit spoofing signals from the ground, such that the fake position can be estimated in any point of an area of the plane where the swarm is moving. To this end we filter the satellite-generated GNSS signals with a multidimensional linear filter, and transmit the filtered signal with multiple ground antennas. The multidimensional filter is designed according to a generalized Wiener-filter criterion, such that the fake signal is accurately reproduced (in terms of mean squared error (MSE)) in the whole spoofed area. We investigate the impact of various design parameters (among others, the size of the spoofed area, the number of ground antennas, and the number of spoofed satellites) on both the MSE, and the probability of acquisition of the spoofed signal by the drones.