Using rotor speed sensors and a physics model, MARS detects IMU attacks in tens of milliseconds and keeps a drone flying by estimating attitude without the attacked inertial sensors.
A systematic study of physical sensor attack hardness
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MARS: Defending Unmanned Aerial Vehicles From Attacks on Inertial Sensors with Model-based Anomaly Detection and Recovery
Using rotor speed sensors and a physics model, MARS detects IMU attacks in tens of milliseconds and keeps a drone flying by estimating attitude without the attacked inertial sensors.