Identification of Guidance Model for GNSS Spoofing in Rotary-Wing UAVs

With the increasing prevalence of small drones, the associated security risks are becoming increasingly prominent. Mainstream countermeasures include radio suppression jamming, navigation deception, fire damage, and directed energy attacks. Among these, navigation deception technology offers strong versatility, flexibility, and low radiation power by causing unmanned aerial vehicles (UAVs) to deviate from preset flight routes through false satellite signals. To enhance the accuracy of UAV trajectory spoofing, this study proposes a method to identify the guidance model of rotary-wing UAVs by analyzing flight control mechanisms and constructing navigation and guidance models under spoofing conditions. A guidance model identification algorithm was designed for two common guidance modes in rotary-wing UAVs: classical and L1 guidance. The method was applied to a PX4-based simulation platform, where the guidance model of a quadrotor UAV was successfully recognized, effectively verifying the feasibility of the proposed algorithm.