{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,19]],"date-time":"2026-01-19T17:10:10Z","timestamp":1768842610191,"version":"3.49.0"},"reference-count":34,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2017,1,25]],"date-time":"2017-01-25T00:00:00Z","timestamp":1485302400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["SIMULATION"],"published-print":{"date-parts":[[2017,5]]},"abstract":"<jats:p> Simulation test beds serve as a cost-effective and safe way to evaluate the system performance of various real world systems. With the rising concerns in the security of sensitive and critical systems, such as unmanned aerial vehicles (UAVs), a software simulation test bed is clearly the best choice given that the environment and various system components are modeled correctly. This becomes critical given the recently developed autonomous aerial vehicles. We therefore evaluate several available simulation test beds and use the most promising test bed to analyze the impact of Global Positioning System (GPS)-related attacks on navigation of UAVs. We also introduce a novel technique for GPS spoofing, attack detection, and mitigation. This paper presents GPS spoofing and GPS jamming attacks with their anatomy, design, and impact evaluation on navigation as well as a novel GPS spoofing mitigation and detection technique for UAVs, using UAVSim: an open source simulation test bed. <\/jats:p>","DOI":"10.1177\/0037549716685874","type":"journal-article","created":{"date-parts":[[2017,1,28]],"date-time":"2017-01-28T00:39:42Z","timestamp":1485563982000},"page":"427-441","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":35,"title":["Analysis of Global Positioning System-based attacks and a novel Global Positioning System spoofing detection\/mitigation algorithm for unmanned aerial vehicle simulation"],"prefix":"10.1177","volume":"93","author":[{"given":"Ahmad Y","family":"Javaid","sequence":"first","affiliation":[{"name":"EECS Department, The University of Toledo, USA"}]},{"given":"Farha","family":"Jahan","sequence":"additional","affiliation":[{"name":"ViaSat Inc., USA"}]},{"given":"Weiqing","family":"Sun","sequence":"additional","affiliation":[{"name":"CSET Department, The University of Toledo, USA"}]}],"member":"179","published-online":{"date-parts":[[2017,1,25]]},"reference":[{"key":"bibr1-0037549716685874","doi-asserted-by":"publisher","DOI":"10.1890\/120150"},{"key":"bibr2-0037549716685874","first-page":"786","volume-title":"InRO-MAN, Gyeongju","author":"Duncan B"},{"key":"bibr3-0037549716685874","unstructured":"FAA. 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Unmanned Aircraft Systems (UAS) Registration, https:\/\/www.faa.gov\/uas\/registration\/ (2016, accessed 12 March 2016)."},{"key":"bibr6-0037549716685874","first-page":"585","volume-title":"IEEE conference on technologies for Homeland Security (HST)","author":"Javaid AY"},{"key":"bibr7-0037549716685874","doi-asserted-by":"publisher","DOI":"10.2514\/6.2012-2438"},{"key":"bibr8-0037549716685874","doi-asserted-by":"publisher","DOI":"10.1016\/j.vehcom.2015.01.001"},{"key":"bibr9-0037549716685874","volume-title":"Global navigation space systems: reliance and vulnerabilities","author":"Thomas M","year":"2011"},{"key":"bibr10-0037549716685874","doi-asserted-by":"publisher","DOI":"10.1007\/s10291-005-0001-9"},{"key":"bibr11-0037549716685874","unstructured":"LabSat. Labsat GPS simulator, http:\/\/www.labsat.co.uk\/index.php\/en\/ (accessed 12 March 2016)."},{"key":"bibr12-0037549716685874","unstructured":"Wietfeld PDIC. The open source satellite simulator, http:\/\/www-os3.kn.e-technik.tu-dortmund.de\/ (2014, accessed 12 March 2016)."},{"key":"bibr13-0037549716685874","volume-title":"AIAA 3rd unmanned unlimited technical conference, workshop and exhibition","author":"Kingston DB"},{"key":"bibr14-0037549716685874","doi-asserted-by":"publisher","DOI":"10.1109\/EMEIT.2011.6024116"},{"key":"bibr15-0037549716685874","volume-title":"proceedings of AIAA 3rd unmanned unlimited technical conference","author":"Brown TX"},{"key":"bibr16-0037549716685874","first-page":"1300","volume-title":"2007 winter simulation conference","author":"Hamilton S"},{"key":"bibr17-0037549716685874","first-page":"1","volume-title":"2011 14th international symposium on wireless personal multimedia communications (WPMC)","author":"Chaumette S"},{"key":"bibr18-0037549716685874","first-page":"355","volume-title":"proceedings of the 2004 winter simulation conference","volume":"1","author":"Corner J"},{"key":"bibr19-0037549716685874","first-page":"1466","volume-title":"2013 American control conference (ACC)","author":"Pereira E"},{"key":"bibr20-0037549716685874","first-page":"454","volume-title":"2011 30th Chinese control conference (CCC)","author":"Qiang Y"},{"key":"bibr21-0037549716685874","unstructured":"Wiki F. Global positioning system, http:\/\/wiki.flightgear.org\/Global_Positioning_System (2013, accessed 12 March 2016)."},{"key":"bibr22-0037549716685874","unstructured":"Jarontec. uavplayground an approach to unmanned aerial vehicles (UAV) with java and the processing development environment, https:\/\/code.google.com\/p\/uavplayground\/ (2010, accessed 12 March 2016)."},{"key":"bibr23-0037549716685874","first-page":"1432","volume-title":"globecom workshops (GC wkshps)","author":"Javaid AY"},{"key":"bibr24-0037549716685874","series-title":"Lecture notes of the institute for computer sciences, social informatics and telecommunications engineering","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1007\/978-3-319-13326-3_11","volume-title":"9th International ICST Conference, TridentCom 2014","volume":"137","author":"Javaid AY"},{"key":"bibr25-0037549716685874","first-page":"15","author":"Jahan F","year":"2015","journal-title":"EAI Endorsed Trans Mobile Commun Appl"},{"key":"bibr26-0037549716685874","unstructured":"Jahan F. Implementation of GNSS\/GPS navigation and its attacks in UAVSim Testbed. Master\u2019s Thesis, University of Toledo, 2015."},{"key":"bibr27-0037549716685874","unstructured":"Shepard D, Bhatti JA, Humphreys TE. Drone hack: spoofing attack demonstration on a civilian unmanned aerial vehicle, http:\/\/gpsworld.com\/drone-hack\/ (2012, accessed 12 March 2016)."},{"key":"bibr28-0037549716685874","unstructured":"Saarinen J. Students hijack luxury yacht with GPS spoofing, http:\/\/www.itnews.com.au\/News\/351659,students-hijack-luxury-yacht-withgps-spoofing.aspx (2013, accessed 12 March 2016)."},{"key":"bibr29-0037549716685874","first-page":"3591","volume-title":"Proceedings of the 25th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2012)","author":"Shepard DP","year":"2012"},{"key":"bibr30-0037549716685874","first-page":"19","volume":"25","author":"Warner JS","year":"2002","journal-title":"J Secur Admin"},{"key":"bibr31-0037549716685874","unstructured":"FCC. 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