1 research outputs found
Secure positioning in a UAV Swarm using on-board stereo cameras
The widespread use of quadcopters as unmanned aerial ve-\ud
hicles (UAVs) provides a number of application possibilities,\ud
mostly using a collaborative swarm of small UAVs to op-\ud
timise critical missions. The common application domains\ud
for small UAV swarms are surveillance, path planning, air-\ud
bone and as relay networks. Cooperative applications make\ud
use of the UAVs' locations to make decisions. However, se-\ud
curity vulnerabilities must be considered when the system\ud
infers rights based on the UAV's location. An attacker can\ud
cheat the system by declaring a false or inaccurate location\ud
to gain access to resources that are restricted or to undertake\ud
malicious activities without detection. In this paper, we pro-\ud
pose the use of a UAV payload stereo camera to measure the\ud
distance between a UAV, called a prover node, and the set\ud
of closest veri er nodes. Using a multilateration algorithm\ud
to estimate the prover's position, we performed simulations\ud
for two cameras with di erent capabilities. The simulations\ud
showed that the proposed technique provides 98% validation\ud
accuracy for distances up to 50 m for 1280x720-resolution\ud
cameras and more than 99% validation accuracy for distances\ud
up to 100 m for 1920x1080-resolution cameras. For distances\ud
greater than 100 m between the prover and the veri ers, the\ud
accuracy depends exclusively on the stereo camera with the\ud
highest capacity.CNPq-INCT-SEC (Processo no. 573963/2008-8)CAPESFAPESP (processos nos. 2008/57870-9 e 2009/17720-0