WP5-11 ACO: Difference between revisions
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Figure below sums up these actions: | Figure below sums up these actions: | ||
[[File:wp5-11_01.png|frame|center | [[File:wp5-11_01.png|100px|frame|center|Activities on HW/SW platform levels and user API for anti-jamming and anti-spoofing support in GLAD+]] | ||
The figure below shows the definition of the ESTIMATOR_STATUS Mavlink message. | The figure below shows the definition of the ESTIMATOR_STATUS Mavlink message. | ||
Revision as of 11:49, 10 March 2023
| ID | WP5-11-ACO |
| Contributor | ACORDE |
| Levels | Platform, Function |
| Require | GLAD+ platform WP3-15_2 |
| Provide | Navigation data (position, attitude, velocity) |
| Input | Specific messages from underlying GNSS receivers. |
| Output | Jamming and spoofing detection via the user API and Mavlink API |
| C4D building block | (see WP3-15_2 ) |
| TRL | 4 |
| Parent Building block | WP3-15_2 |
| Contact | fernando.herrera@acorde.com |
Description
One activity of ACORDE in WP5 of COMP4DRONES has been to enable anti-jamming and anti-spoofing capabilities to its low-cost geo-referenced outdoor positioning and attituded estimation solution, i.e. GLAD+ WP3-15_2.
The challenge tackled has been to enable such a feature in a way that:
- hold the low-cost of the solution
- enabled a smooth integration
How
ACORDE has achieved this by tackling the following actions:
- designing and implementing a novel hardware platform that integrates low-cost GNSS receivers with anti-jamming and anti-spoofing capabilities
- at the SW platform level, specific drivers have been developed which enable the positioning application to configure the detection and detect both spoofing and jamming events.
- application-level API has been also enabled. Moreover, a Mavlink semantic extension has been proposed to enable a Mavlink base integration able to transfer spoofing/jamming event information.
Figure below sums up these actions:
The figure below shows the definition of the ESTIMATOR_STATUS Mavlink message.
The semantics of this message has been smoothly widen to provide the quality information on the positioning parameters. The expressive power of the ESTIMATOR_STATUS message has been improved, by defining extra ranges within the default invalid range (1.0<V) of theinnovation test ratio field. These ranges provide additional information on the root causes of the abnormal measurement. An additional benefit of the proposed extension is that it maintains backward compatibility with existing MAVLink integrations.
Evaluation
TBC