A common, geometry-preserving GNSS shift is invisible to distance-only swarm defenses, but a small set of trusted anchors can restore absolute positions, and a derived detection floor predicts how fast a covert ramp must be to be caught.
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Rigid-Covert GNSS Spoofing of UAV Swarms: A Structural Blind Spot, Its Detection Limit, and Absolute-Anchor Defenses
A common, geometry-preserving GNSS shift is invisible to distance-only swarm defenses, but a small set of trusted anchors can restore absolute positions, and a derived detection floor predicts how fast a covert ramp must be to be caught.