Hardware GPS anti-spoofing for drones. Up to 10 target-, transport-, and receiver-dependent evidence rows, confidence scoring, and auto-recovery. Field-reported use is receiver- and scenario-dependent.
Designed for field use; validation remains receiver- and airframe-dependent
Up to 10 weighted evidence rows: barometric vertical-rate divergence (DroneCAN), SNR span, receiver SEC-SIG verdict (H743 u-blox), pseudorange residual, SNR temporal correlation, heading reversal, GDOP change, GPS time, velocity-position, and clock bias. Unavailable rows are excluded; the south-hemisphere hard block is separate.
Each detection computes a 0–100 confidence score from all active signals. Know exactly how suspicious the GPS data is — not just a binary alarm. Visible in real-time telemetry and event logs.
Works with u-blox M8/M9/M10/F9/F10, including F9P/F10N-class receivers, Unicore UM980/UM981/UM982, and Septentrio Mosaic X5, including H743 DroneCAN SBF. Direct u-blox modules auto-configure at boot; manual baud mode covers gateway and dual-receiver modules.
Automatic GPS recovery with hot/cold restart watchdog. Configurable geo-fence up to 2000 km triggers DR1 on position drift. Smart rejoin logic restores GPS only when signal quality is verified.
MAVLink2 NAMED_VALUE_INT messages stream the 0–100 confidence score and active detection reasons to your ground station. Watch spoofing detection live in Mission Planner’s MAVLink Inspector — no extra software needed.
Spoofing events are emitted as MAVLink STATUSTEXT and NAMED_VALUE_INT messages and recorded by ArduPilot into the flight controller’s SD-card dataflash log. No separate download tool — review anti-spoofing data alongside your regular post-flight logs.
Per-board UID binding and RDP1 make casual copying and debug-port extraction fail closed. They raise the cost of cloning and analysis, but do not guarantee resistance to advanced physical reverse engineering.
Runs on an STM32F401CC BlackPill. Low power, 4 grams, fits any frame. ArduPilot MAVLink2 integration with real-time telemetry and tunable parameters via Mission Planner.
What happens when GPS spoofing hits your drone
| Scenario | Without Filter | With Filter |
|---|---|---|
| GPS spoofing attack | Flies to the wrong location | Blocks spoofed data, holds position |
| GNSS jamming | Loses GPS, drifts or crashes | Switches to dead-reckoning instantly |
| Slow position drift | Undetected, flies off course | Geo-fence triggers DR1 at threshold |
| GPS recovery after attack | May accept a bad fix immediately | Validates signal quality before rejoin |
| Post-flight analysis | No spoofing data recorded | Full event log in ArduPilot SD-card dataflash |
Examples reported in operating regions; listing does not claim direct validation against each system
GPS Spoofing: Lima, Patelnia, Pokrova
GNSS Jamming: Bukovel, Nota, Damba, Enclave, Enclave-Malyuk
Drone Suppression: Dandelion, PARASOL, Piranha AVD 360
GPS Spoofing: Pole-21 (Field-21), Shipovnik-Aero
GNSS Jamming: R-330Zh Zhitel, Borisoglebsk-2
Other: Krasukha-2/4, Leer-3, Murmansk-BN, Repellent-1, Infauna
Belarusian: Groza (KB Radar)
Detection uses signal and motion evidence rather than an EW-system signature. Results depend on receiver, installation, flight profile, and interference mode. See the validation limits.
From unboxing to protection in minutes
Purchase the board, enter your license key in the Windows app, and flash the provisioned firmware over ST-Link V2 / SWD. H743 DroneCAN updates can also use USB-C ROM DFU.
Wire between your GPS module and flight controller. Power on — the filter is transparent until spoofing is detected.
The filter monitors GNSS signals in real time. When spoofing is detected, it blocks the spoofed data and logs the event.
Open your ArduPilot SD-card dataflash log in Mission Planner or MAVExplorer. Spoofing events appear as STATUSTEXT entries with reason, confidence, duration and fix counters alongside the flight track.
Enter your license key to check activation status
Everything you need to get started