Towards secure & robust PNT for automated systems

This dissertation makes four contributions in support of secure and robust position, navigation, and timing (PNT) for automated systems. The first two relate to PNT security while the latter two address robust positioning for automated ground vehicles. The first contribution is a fundamental theory for provably-secure clock synchronization between two agents in a distributed automated system. All one-way synchronization protocols, such as those based on the Global Positioning System (GPS) and other Global Navigation Satellite Systems (GNSS), are shown to be vulnerable to man-in-the-middle delay attacks. This contribution is the first to identify the necessary and sufficient conditions for provably secure clock synchronization. The second contribution, also related to PNT security, is a three-year study of the world-wide GPS interference landscape based on data from a dual-frequency GNSS receiver operating continuously on the International Space Station (ISS). This work is the first publicly-reported space-based survey of GNSS interference, and unveils previously-unreported GNSS interference activity. The third contribution is a novel ground vehicle positioning technique that is robust to GNSS signal blockage, poor lighting conditions, and adverse weather events such as heavy rain and dense fog. The technique relies on sensors that are commonly available on automated vehicles and are insensitive to lighting and inclement weather: automotive radar, low-cost inertial measurement units (IMUs), and GNSS. Remarkably, it is shown that, given a prior radar map, the proposed technique operating on data from off-the-shelf all-weather automotive sensors can maintain sub-50-cm horizontal position accuracy during 60 min of GNSS-denied driving in downtown Austin, TX. This dissertation’s final contribution is an analysis and demonstration of the feasibility of crowd-sourced digital mapping for automated vehicles. Localization techniques, such as the one described in the previous contribution, rely on such digital maps for accuracy and robustness. A key enabler for large-scale up-to-date maps is enlisting the help of the very consumer vehicles that need the map to build and update it. A method for fusing multi-session vision data into a unified digital map is developed. The asymptotic limit of such a map’s globally-referenced position accuracy is explored for the case in which the mapping agents rely on low-cost GNSS receivers performing standard code-phase-based navigation. Experimental validation along a semi-urban route shows that low-cost consumer vehicles incrementally tighten the accuracy of the jointly-optimized digital map over time enough to support sub-lane-level positioning in a global frame of reference.Electrical and Computer Engineerin

Authentication and Integrity Protection at Data and Physical layer for Critical Infrastructures

This thesis examines the authentication and the data integrity services in two prominent emerging contexts such as Global Navigation Satellite Systems (GNSS) and the Internet of Things (IoT), analyzing various techniques proposed in the literature and proposing novel methods. GNSS, among which Global Positioning System (GPS) is the most widely used, provide affordable access to accurate positioning and timing with global coverage. There are several motivations to attack GNSS: from personal privacy reasons, to disrupting critical infrastructures for terrorist purposes. The generation and transmission of spoofing signals either for research purpose or for actually mounting attacks has become easier in recent years with the increase of the computational power and with the availability on the market of Software Defined Radios (SDRs), general purpose radio devices that can be programmed to both receive and transmit RF signals. In this thesis a security analysis of the main currently proposed data and signal level authentication mechanisms for GNSS is performed. A novel GNSS data level authentication scheme, SigAm, that combines the security of asymmetric cryptographic primitives with the performance of hash functions or symmetric key cryptographic primitives is proposed. Moreover, a generalization of GNSS signal layer security code estimation attacks and defenses is provided, improving their performance, and an autonomous anti-spoofing technique that exploits semi-codeless tracking techniques is introduced. Finally, physical layer authentication techniques for IoT are discussed, providing a trade-off between the performance of the authentication protocol and energy expenditure of the authentication process

Advanced Integration of GNSS and External Sensors for Autonomous Mobility Applications

L'abstract è presente nell'allegato / the abstract is in the attachmen

Discrete interferences optimum beamformer in correlated signal and interfering noise

This paper introduces a significant special situation where the noise is a collection of D-plane interference signals and the correlated noise of D+1 is less than the number of array components. An optimal beamforming processor based on the minimum variance distortionless response (MVDR) generates and combines appropriate statistics for the D+1 model. Instead of the original space of the N-dimensional problem, the interference signal subspace is reduced to D+1. Typical antenna arrays in many modern communication networks absorb waves generated from multiple point sources. An analytical formula was derived to improve the signal to interference and noise ratio (SINR) obtained from the steering errors of the two beamformers. The proposed MVDR processor-based beamforming does not enforce general constraints. Therefore, it can also be used in systems where the steering vector is compromised by gain. Simulation results show that the output of the proposed beamformer based on the MVDR processor is usually close to the ideal state within a wide range of signal-to-noise ratio and signal-to-interference ratio. The MVDR processor-based beamformer has been experimentally evaluated. The proposed processor-based MVDR system significantly improves performance for large interference white noise ratio (INR) in the sidelobe region and provide an appropriate beam pattern

Innovative Solutions for Navigation and Mission Management of Unmanned Aircraft Systems

The last decades have witnessed a significant increase in Unmanned Aircraft Systems (UAS) of all shapes and sizes. UAS are finding many new applications in supporting several human activities, offering solutions to many dirty, dull, and dangerous missions, carried out by military and civilian users. However, limited access to the airspace is the principal barrier to the realization of the full potential that can be derived from UAS capabilities. The aim of this thesis is to support the safe integration of UAS operations, taking into account both the user's requirements and flight regulations. The main technical and operational issues, considered among the principal inhibitors to the integration and wide-spread acceptance of UAS, are identified and two solutions for safe UAS operations are proposed: A. Improving navigation performance of UAS by exploiting low-cost sensors. To enhance the performance of the low-cost and light-weight integrated navigation system based on Global Navigation Satellite System (GNSS) and Micro Electro-Mechanical Systems (MEMS) inertial sensors, an efficient calibration method for MEMS inertial sensors is required. Two solutions are proposed: 1) The innovative Thermal Compensated Zero Velocity Update (TCZUPT) filter, which embeds the compensation of thermal effect on bias in the filter itself and uses Back-Propagation Neural Networks to build the calibration function. Experimental results show that the TCZUPT filter is faster than the traditional ZUPT filter in mapping significant bias variations and presents better performance in the overall testing period. Moreover, no calibration pre-processing stage is required to keep measurement drift under control, improving the accuracy, reliability, and maintainability of the processing software; 2) A redundant configuration of consumer grade inertial sensors to obtain a self-calibration of typical inertial sensors biases. The result is a significant reduction of uncertainty in attitude determination. In conclusion, both methods improve dead-reckoning performance for handling intermittent GNSS coverage. B. Proposing novel solutions for mission management to support the Unmanned Traffic Management (UTM) system in monitoring and coordinating the operations of a large number of UAS. Two solutions are proposed: 1) A trajectory prediction tool for small UAS, based on Learning Vector Quantization (LVQ) Neural Networks. By exploiting flight data collected when the UAS executes a pre-assigned flight path, the tool is able to predict the time taken to fly generic trajectory elements. Moreover, being self-adaptive in constructing a mathematical model, LVQ Neural Networks allow creating different models for the different UAS types in several environmental conditions; 2) A software tool aimed at supporting standardized procedures for decision-making process to identify UAS/payload configurations suitable for any type of mission that can be authorized standing flight regulations. The proposed methods improve the management and safe operation of large-scale UAS missions, speeding up the flight authorization process by the UTM system and supporting the increasing level of autonomy in UAS operations

Filtered and semi-continuous single epoch GPS for deformation monitoring

Multipath is a major sidereally-repeating error affecting GPS. The repetition of satellite-receiver geometry approximately every sidereal day enables filtering to minimize multipath. Computing the exact error repeat interval using the day-to-day autocorrelation with a 10-hour window yields a consistent and steady value of 23h 55m 54s. A 2-hour window gives fluctuating lag values with >97% of the optimal lag's correlation, suggesting little advantage in using a satellite-specific or timevarying lag in double-difference processing. GPS data are filtered by stacking at the optimum lag, and applying, either coordinate residuals ("coordinate filtering"), or double-difference carrier phase residuals ("observation filtering"). Coordinate filtering yields better coordinate repeatability than observation filtering, but with similar hour-to-hour consistency. The variance reduction in a high multipath environment over a 24-hour dataset reaches 73%, using a 3-day coordinate-filter in a high multipath enviromnent. However, observation filtering requires less processing time to generate and apply the filter. As the time gap betweent he days generatingth e filter and the applied day increases, the variance reduction worsens gradually, reaching zero at a gap of -30 days. The optimal variance reduction (61% in a low multipath environment) is achieved by stacking seven days immediately before the applied day, but a stack of 3-9 days is acceptable. A switched-antenna array system may be adopted instead of continuous GPS for cost minimization. According to the used receivers' hardware, the optimum session interval to use is 119 seconds, which provides sufficient usable epochs per switch interval and is synchronized with the "sidereal" lag. Semi-continuous sidereallyfiltered GPS is efficient in detecting horizontal and vertical deformations in nearstatic enviromnents with high multipath to the millimetre level. In addition, the precision of the deforming stations improved, reaching to a precision better than 5 mm and 8 mm in the horizontal and vertical plane respectively. Hence, this provides the capability of monitoring slow moving deformations using a quick, cost-effective and precise GPS technique.EThOS - Electronic Theses Online ServiceUniversities UKGBUnited Kingdo

DRONE DELIVERY OF CBNRECy – DEW WEAPONS Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD)

Drone Delivery of CBNRECy – DEW Weapons: Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD) is our sixth textbook in a series covering the world of UASs and UUVs. Our textbook takes on a whole new purview for UAS / CUAS/ UUV (drones) – how they can be used to deploy Weapons of Mass Destruction and Deception against CBRNE and civilian targets of opportunity. We are concerned with the future use of these inexpensive devices and their availability to maleficent actors. Our work suggests that UASs in air and underwater UUVs will be the future of military and civilian terrorist operations. UAS / UUVs can deliver a huge punch for a low investment and minimize human casualties.https://newprairiepress.org/ebooks/1046/thumbnail.jp

Cyber-Human Systems, Space Technologies, and Threats

CYBER-HUMAN SYSTEMS, SPACE TECHNOLOGIES, AND THREATS is our eighth textbook in a series covering the world of UASs / CUAS/ UUVs / SPACE. Other textbooks in our series are Space Systems Emerging Technologies and Operations; Drone Delivery of CBNRECy – DEW Weapons: Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD); Disruptive Technologies with applications in Airline, Marine, Defense Industries; Unmanned Vehicle Systems & Operations On Air, Sea, Land; Counter Unmanned Aircraft Systems Technologies and Operations; Unmanned Aircraft Systems in the Cyber Domain: Protecting USA’s Advanced Air Assets, 2nd edition; and Unmanned Aircraft Systems (UAS) in the Cyber Domain Protecting USA’s Advanced Air Assets, 1st edition. Our previous seven titles have received considerable global recognition in the field. (Nichols & Carter, 2022) (Nichols, et al., 2021) (Nichols R. K., et al., 2020) (Nichols R. , et al., 2020) (Nichols R. , et al., 2019) (Nichols R. K., 2018) (Nichols R. K., et al., 2022)https://newprairiepress.org/ebooks/1052/thumbnail.jp

An Integrity Framework for Image-Based Navigation Systems

This work first examines fundamental differences between measurement models established for GPS and those of proposed image-based navigation systems. In contrast to single value per satellite GPS pseudorange measurements, image measurements are inherently angle-based and represent pixel coordinate pairs for each mapped target. Thus, in the image-based case, special consideration must be given to the units of the transformations between the states and measurements, and also to the fact that multiple rows of the observation matrix relate to particular error states. An algorithm is developed to instantiate a framework for image-based integrity analogous to that of GPS RAIM. The algorithm is applied cases where the navigation system is estimating position only and then extended to cases where both position and attitude estimation is required. Detailed analysis demonstrates the impact of angular error on a single pixel pair measurement and comparisons from both estimation scenario results show that, from an integrity perspective, there is significant benefit in having known attitude information. Additional work demonstrates the impact of pixel pair measurement relative geometries on system integrity, showing potential improvement in image-based integrity through screening and adding measurements, when available, to the navigation system solution

International Competition for Satellite-Based Navigation System Services

The goal of this work is to review the current state of Global Navigation Satellite System (GNSS) development and its potential impact on the social, economic, and political dynamics of the various states fielding the systems. The most recognizable GNSS is the US GPS. It is the only operational system functioning at the time of this writing and has become part of the global commons. GPS, by virtue of its uniqueness, is considered the \u27gold standard\u27 of satellite based positioning, navigation, and timing systems. This uniqueness has also enabled the US to fully capitalize on the sizable economic dividends gained by the US technology sector from the development and sales of GPS user equipment and services. This work argues that the emergence of three global peer competitors to GPS is going to usher in a changed international relations environment for those new players. The economic implications go beyond a simple return on investment and could represent the continued space science and technical competitiveness of these states or not. The international political ramifications of the success or failure of the particular GNSSs could have a greater impact on the current international order than has been previously considered. The European Union, Russia, and China have become inexorably locked in a contest of domestic political will to field the next generation of GNSS in order to free themselves from US GPS domination and at the same time gain economic advantage over the other in space system technologies. Concurrently, the US is endeavoring to field the next generation of GPS and maintain its dominance in the associated technologies linked to GPS